diff --git "a/json/train/data-00004-of-00160.json" "b/json/train/data-00004-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00004-of-00160.json"
@@ -0,0 +1,384 @@
+{"uid":"17077384479477374711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npress the lift 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":"14427552160595896388.mp4"}
+{"uid":"17724129032828068575","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":"4104585525740270302.mp4"}
+{"uid":"13446177552900055793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace numi white rose 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":"2955841232309982670.mp4"}
+{"uid":"8343642500566115494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1342439175952653158.mp4"}
+{"uid":"10547736275560589049","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red marker 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":"10781189075459526137.mp4"}
+{"uid":"6389785345671189181","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow packet in the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow packet in the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow packet in the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow packet in the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: place the yellow packet in the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer Q: immediate next step? \u003cPRED\u003eA: place the yellow packet in the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet in the top drawer 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"16438117794643721460.mp4"}
+{"uid":"5020661615221445707","text":"\u003ctask:success:discrete:True\u003e\ndrop the wipes 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: drop the wipes packet in the drawer\n\u003c/PRED\u003e","video":"11846023147996350954.mp4"}
+{"uid":"9162304041897789767","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":"17572369858509663396.mp4"}
+{"uid":"3090851638139080483","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the holder 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e","video":"13344482737531396063.mp4"}
+{"uid":"13615681354605535467","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the wipes 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: drop the wipes packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the wipes packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the wipes 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: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: drop the wipes packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the wipes packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the wipes packet in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"18408377556439824844.mp4"}
+{"uid":"7544404819298912014","text":"\u003ctask:success:discrete:True\u003e\nhold  the drawer handle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hold  the drawer handle\n\u003c/PRED\u003e","video":"4186577368935515017.mp4"}
+{"uid":"18360735623947575247","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right Q: immediate next step? \u003cPRED\u003eA: put marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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 marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right Q: next 5 steps? \u003cPRED\u003eA: 1- put marker in the holder 2- put pen in the holder 3- put pen in the holder 4- put marker in the holder 5- put pen in the holder\n\u003c/PRED\u003e","video":"5263986099751003988.mp4"}
+{"uid":"2012964751748469651","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":"72334411105598299.mp4"}
+{"uid":"8413300406880046537","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder 7- put pen in the holder 8- put marker in the holder 9- put pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the holder 2- put pen in the holder 3- put pen in the holder 4- adjust the pen 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder 7- put pen in the holder 8- put marker in the holder 9- put pen in the holder Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e","video":"13920025287712998348.mp4"}
+{"uid":"7247383800505998574","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the holder 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e","video":"1064096198584302349.mp4"}
+{"uid":"7205246292688542666","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":"15677277002511458990.mp4"}
+{"uid":"3032823204236083058","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the wet wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the wet wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer Q: immediate next step? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick the wet wipes packet 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"11583444673894450745.mp4"}
+{"uid":"386599156243803667","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder 7- put pen in the holder 8- put marker in the holder 9- put pen in the holder 10- put pen in the holder Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder 7- put pen in the holder 8- put marker in the holder 9- put pen in the holder 10- put pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the holder 2- put pen in the holder 3- adjust the pen 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e","video":"1011510766266440783.mp4"}
+{"uid":"4322218424502177973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"15593730899337056183.mp4"}
+{"uid":"5469908997789726153","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop fork 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":"6884978351112580821.mp4"}
+{"uid":"5192617537348767665","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the top drawer handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the top drawer handle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the top drawer handle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the top drawer handle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: grab the top drawer handle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: grab the top drawer handle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- grab the top drawer handle 2- pick the yellow packet from the table 3- drop the wipes packet in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"12263670647625344344.mp4"}
+{"uid":"12741970544698084032","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":"13124372657697123457.mp4"}
+{"uid":"13861681069022690803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the wipe 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":"3150308799660318906.mp4"}
+{"uid":"2194735437194313932","text":"\u003ctask:success:discrete:True\u003e\ngrab the top drawer handle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the top drawer handle\n\u003c/PRED\u003e","video":"7727083073949341743.mp4"}
+{"uid":"3588543891168171553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12546173490889831708.mp4"}
+{"uid":"8666610330710967426","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":"13122787081368540726.mp4"}
+{"uid":"3947543558340662293","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":"7455148577096378077.mp4"}
+{"uid":"12961167621393841786","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":"14929234776953254326.mp4"}
+{"uid":"4303819106593305005","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e","video":"16485332442034902327.mp4"}
+{"uid":"4473302677220465188","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask: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:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the top drawer 2- pick the yellow packet from the table 3- drop the wipes packet in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"246667849251336329.mp4"}
+{"uid":"6134891381858037807","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wet wipes packet in the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wet wipes packet in the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the wet wipes packet in the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the wet wipes packet in the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet in the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer 3- pick the yellow packet from the table Q: immediate next step? \u003cPRED\u003eA: place the wet wipes packet in the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer 3- pick the yellow packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the wet wipes packet in the top drawer 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"3293588804690399267.mp4"}
+{"uid":"13215081329455461210","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":"3994368904367489266.mp4"}
+{"uid":"599183307840611401","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":"14762583890138492401.mp4"}
+{"uid":"2112770058364692245","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder Q: immediate next step? \u003cPRED\u003eA: put marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put marker in the holder 2- put pen in the holder 3- put pen in the holder 4- put marker in the holder 5- put pen in the holder\n\u003c/PRED\u003e","video":"10041622847926521688.mp4"}
+{"uid":"6910592207899331514","text":"\u003ctask:success:discrete:True\u003e\nclose the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer 3- pick the yellow packet from the table 4- drop the wipes packet in the drawer 5- close the top drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer 3- pick the yellow packet from the table 4- drop the wipes packet in the drawer 5- close the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14328851510049247892.mp4"}
+{"uid":"7549300808783080161","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder 7- put pen in the holder 8- put marker in the holder 9- put pen in the holder 10- put pen in the holder 11- put pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the holder 2- adjust the pen 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder 7- put pen in the holder 8- put marker in the holder 9- put pen in the holder 10- put pen in the holder 11- put pen in the holder Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e","video":"208562408391684693.mp4"}
+{"uid":"652004585567825278","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e","video":"3050517853460917912.mp4"}
+{"uid":"16644409871025575498","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":"9055408197417969466.mp4"}
+{"uid":"4253269246995864203","text":"\u003ctask:success:discrete:True\u003e\npick the wet wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the wet wipes packet\n\u003c/PRED\u003e","video":"17581253018838966426.mp4"}
+{"uid":"16579051772367387519","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack the plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9752119607395215670.mp4"}
+{"uid":"1943797851693436189","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":"11886556657698145717.mp4"}
+{"uid":"16062661217199122817","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer 3- pick the yellow packet from the table 4- drop the wipes packet in the drawer Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer 3- pick the yellow packet from the table 4- drop the wipes packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the top drawer 2- done\n\u003c/PRED\u003e","video":"9633532421974713626.mp4"}
+{"uid":"12621355590507440755","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":"13227040720620511149.mp4"}
+{"uid":"11378865415821179787","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- pick the yellow packet from the table 3- drop the wipes packet in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"6718618539806849508.mp4"}
+{"uid":"13893047783569049092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"7805071014411688299.mp4"}
+{"uid":"8880001759975193540","text":"\u003ctask:success:discrete:False\u003e\nadjust 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: adjust the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder 7- put pen in the holder 8- put marker in the holder 9- put pen in the holder 10- put pen in the holder 11- put pen in the holder 12- put pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the pen 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder 7- put pen in the holder 8- put marker in the holder 9- put pen in the holder 10- put pen in the holder 11- put pen in the holder 12- put pen in the holder Q: immediate next step? \u003cPRED\u003eA: adjust the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: adjust the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the pen\n\u003c/PRED\u003e","video":"4883823536194168369.mp4"}
+{"uid":"9924801513801603692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the red glass in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17854879778527100992.mp4"}
+{"uid":"15195962488523859864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the lid on the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"539580612042192687.mp4"}
+{"uid":"18334936279822227032","text":"\u003ctask:success:discrete:True\u003e\nplace the yellow packet in the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow packet in the top drawer\n\u003c/PRED\u003e","video":"9044521219719091131.mp4"}
+{"uid":"9194173925019670060","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nhold  the drawer handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hold  the drawer handle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hold  the drawer handle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhold  the drawer handle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: hold  the drawer handle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: hold  the drawer handle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- hold  the drawer handle 2- pick the yellow packet from the table 3- drop the wipes packet in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"9916018111609533360.mp4"}
+{"uid":"6172991865486935528","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":"1183446927103166748.mp4"}
+{"uid":"9126254605366858202","text":"\u003ctask:success:discrete:True\u003e\npick the wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the wipes packet\n\u003c/PRED\u003e","video":"4241841948919932342.mp4"}
+{"uid":"7319062907140649909","text":"\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer 3- pick the yellow packet from the table 4- drop the wipes packet in the drawer 5- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer 3- pick the yellow packet from the table 4- drop the wipes packet in the drawer 5- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6050894299341149144.mp4"}
+{"uid":"3775558635323380092","text":"\u003ctask:success:discrete:True\u003e\nplace the wet wipes packet in the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the wet wipes packet in the top drawer\n\u003c/PRED\u003e","video":"9616064923411298117.mp4"}
+{"uid":"7328685936948040630","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the holder 2- put pen in the holder 3- put marker in the holder 4- put pen in the holder 5- put pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7940081293620628370.mp4"}
+{"uid":"11669825205238931456","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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 pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the holder 2- put pen in the holder 3- put marker in the holder 4- put pen in the holder 5- put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 pen in the holder\n\u003c/PRED\u003e","video":"10511428466807910426.mp4"}
+{"uid":"10388389296559765183","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder 7- put pen in the holder Q: immediate next step? \u003cPRED\u003eA: put marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder 7- put pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put marker in the holder 2- put pen in the holder 3- put pen in the holder 4- put pen in the holder 5- put pen in the holder\n\u003c/PRED\u003e","video":"3313043535326607287.mp4"}
+{"uid":"11234751551846332109","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: can you please put the wipes away in the filing cabinet 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: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 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: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow packet from the table 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"5514401291443405510.mp4"}
+{"uid":"17202158569307999934","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer 3- pick the yellow packet from the table 4- drop the wipes packet in the drawer Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer 3- pick the yellow packet from the table 4- drop the wipes packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the top drawer 2- done\n\u003c/PRED\u003e","video":"17617617772144958379.mp4"}
+{"uid":"12151425235067011269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"14912659056505453568.mp4"}
+{"uid":"15339173123126314995","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":"1340186085339289732.mp4"}
+{"uid":"12634371172031776465","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the wipes packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the wipes packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the wipes packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: pick the wipes packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer Q: immediate next step? \u003cPRED\u003eA: pick the wipes packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick the wipes packet 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"17278416485016997557.mp4"}
+{"uid":"6335182354318106237","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the top drawer 2- drop the wipes packet in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e","video":"1291923044343246714.mp4"}
+{"uid":"10893330250174036282","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder 7- put pen in the holder 8- put marker in the holder Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: Put the writing utensils in the pen holder. last 20 steps: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder 6- put pen in the holder 7- put pen in the holder 8- put marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the holder 2- put pen in the holder 3- put pen in the holder 4- put pen in the holder 5- adjust the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e","video":"11751975027244904016.mp4"}
+{"uid":"8409009445239005675","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing 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 please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer 3- pick the yellow packet from the table 4- drop the wipes packet in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please put the wipes away in the filing cabinet. last 20 steps: 1- grab the top drawer handle 2- open the top drawer 3- pick the yellow packet from the table 4- drop the wipes packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e","video":"4700539182465064753.mp4"}
+{"uid":"11580125563120514513","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put holder up right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put holder up right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: put holder up right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput holder up right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put holder up right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put holder up right 2- put marker in the holder 3- put pen in the holder 4- put pen in the holder 5- put marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput holder up right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8180811378326985089.mp4"}
+{"uid":"1957724861717418301","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the plastic knife 2- put the plastic knife in the stand 3- pick plastic knife 4- drop the knife into the holder 5- pick up the knife\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder Q: immediate next step? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e","video":"18148251737881652815.mp4"}
+{"uid":"4888496078012265163","text":"\u003ctask:success:discrete:True\u003e\nplace plastic knife 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 plastic knife in the pen holder\n\u003c/PRED\u003e","video":"12247031911084452559.mp4"}
+{"uid":"394599298120981276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7369709116102015743.mp4"}
+{"uid":"4085079969689888860","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic knife in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the stand 2- pick plastic knife 3- drop the knife into the holder 4- pick up the knife 5- place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e","video":"5318860936258293877.mp4"}
+{"uid":"9486691493006736163","text":"\u003ctask:success:discrete:True\u003e\npick plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder 9- pick plastic knife Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder 9- pick plastic knife Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e","video":"15648308527949277917.mp4"}
+{"uid":"13845810909084269683","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":"6773343590018305380.mp4"}
+{"uid":"2085558563738607883","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the knife\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup the knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17314283615988834892.mp4"}
+{"uid":"15504394376629480833","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange candy into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12946771940013477674.mp4"}
+{"uid":"16436781818139658076","text":"\u003ctask:success:discrete:False\u003e\nplace plastic knife 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 plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace plastic knife in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder 9- pick plastic knife Q: next 5 steps? \u003cPRED\u003eA: 1- place plastic knife in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder 9- pick plastic knife Q: immediate next step? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e","video":"15869832209344944460.mp4"}
+{"uid":"3941778937580982395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6854637719681152732.mp4"}
+{"uid":"2741129187403588348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"6556483722265728819.mp4"}
+{"uid":"14584488682716677238","text":"\u003ctask:success:discrete:True\u003e\nplace plastic knife 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 plastic knife in the pen holder\n\u003c/PRED\u003e","video":"4023918115559864246.mp4"}
+{"uid":"14740839368388731774","text":"\u003ctask:success:discrete:True\u003e\nput the plastic knife 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 plastic knife in the stand\n\u003c/PRED\u003e","video":"13422638009910156420.mp4"}
+{"uid":"2541504459946354375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet 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":"7660965278797765933.mp4"}
+{"uid":"4706354016464838709","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":"13394486887314951111.mp4"}
+{"uid":"6843357337115971927","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder 9- pick plastic knife 10- place plastic knife in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace plastic knife 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 plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder 9- pick plastic knife 10- place plastic knife in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7676020535743859644.mp4"}
+{"uid":"12430934486007137200","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1201645502945456060.mp4"}
+{"uid":"16622180251514955880","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":"7131726230978916888.mp4"}
+{"uid":"15128506397753602553","text":"\u003ctask:success:discrete:True\u003e\ndrop the knife into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e","video":"4876321665938202401.mp4"}
+{"uid":"8593390948833540854","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e","video":"3441702498393243293.mp4"}
+{"uid":"16540718960489766866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9645831065105070343.mp4"}
+{"uid":"6457268840326321441","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick plastic knife 2- place plastic knife in the pen holder 3- pick plastic knife 4- drop the knife into the holder 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder Q: immediate next step? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e","video":"10930096481558705948.mp4"}
+{"uid":"4624421203874274301","text":"\u003ctask:success:discrete:False\u003e\npick plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick plastic knife 2- put the plastic knife in the stand 3- pick plastic knife 4- drop the knife into the holder 5- pick up the knife\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder Q: immediate next step? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17364529615958112088.mp4"}
+{"uid":"17567471154364830362","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder 9- drop the knife into the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder 9- drop the knife into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the knife 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":"14390832489179491950.mp4"}
+{"uid":"13433547319043272895","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e","video":"13955897853630844289.mp4"}
+{"uid":"17746648993172013658","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the knife 2- put the plastic knife in the stand 3- pick plastic knife 4- drop the knife into the holder 5- pick up the knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the knife\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the knife\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder Q: immediate next step? \u003cPRED\u003eA: pickup the knife\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: pickup the knife\n\u003c/PRED\u003e","video":"8524423468446501021.mp4"}
+{"uid":"4927514904919441201","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":"13184472259362618825.mp4"}
+{"uid":"1617470617774902791","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":"4324064018015412591.mp4"}
+{"uid":"9899850681513908790","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the knife 2- pick plastic knife 3- drop the knife into the holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: pick up the knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the knife\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder Q: immediate next step? \u003cPRED\u003eA: pick up the knife\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the knife\n\u003c/PRED\u003e","video":"4087995618646107835.mp4"}
+{"uid":"17253783544636050819","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the knife into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into the holder 2- done\n\u003c/PRED\u003e","video":"6164170250366024606.mp4"}
+{"uid":"11564428124103786685","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the stand 2- pick up the knife 3- place plastic knife in the pen holder 4- pick plastic knife 5- drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic knife in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e","video":"6994008846749564139.mp4"}
+{"uid":"9959211332480549635","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick plastic knife 2- pick up the knife 3- place plastic knife in the pen holder 4- pick plastic knife 5- drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand Q: immediate next step? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2431199791119951693.mp4"}
+{"uid":"12087938468193099775","text":"\u003ctask:success:discrete:True\u003e\nput the plastic knife 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 plastic knife in the stand\n\u003c/PRED\u003e","video":"13691873767506416887.mp4"}
+{"uid":"16860239216751819577","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder Q: immediate next step? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick plastic knife 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e","video":"8067270669329469135.mp4"}
+{"uid":"2931336911780354897","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the knife\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: pick up the knife\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the knife\n\u003c/PRED\u003e","video":"12945882933956372301.mp4"}
+{"uid":"15409714098067543312","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: pick up the knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder Q: immediate next step? \u003cPRED\u003eA: pick up the knife\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the knife\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the knife\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the knife 2- drop the knife into the holder 3- done\n\u003c/PRED\u003e","video":"16477713704735042582.mp4"}
+{"uid":"7505348298418744362","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace plastic knife 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: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife Q: immediate next step? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace plastic knife 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 plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife Q: next 5 steps? \u003cPRED\u003eA: 1- place plastic knife in the pen holder 2- pick plastic knife 3- drop the knife into the holder 4- pick up the knife 5- place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e","video":"2874638710529399864.mp4"}
+{"uid":"16495914021541027189","text":"\u003ctask:success:discrete:True\u003e\npick plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 plastic knife\n\u003c/PRED\u003e","video":"5605870048037956466.mp4"}
+{"uid":"16595959342051523897","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":"11256289072956395223.mp4"}
+{"uid":"12189688838883131400","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into the holder 2- pick plastic knife 3- drop the knife into the holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife Q: immediate next step? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the knife 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":"14780073577790977866.mp4"}
+{"uid":"5622250725755798936","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife 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 plastic knife in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the stand 2- pick plastic knife 3- put the plastic knife in the stand 4- pick plastic knife 5- drop the knife into the holder\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 stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e","video":"3654905841337966403.mp4"}
+{"uid":"637694696269578033","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife Q: immediate next step? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace plastic knife 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 plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace plastic knife in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife Q: next 5 steps? \u003cPRED\u003eA: 1- place plastic knife in the pen holder 2- pick plastic knife 3- put the plastic knife in the stand 4- pick plastic knife 5- drop the knife into the holder\n\u003c/PRED\u003e","video":"5178508897270717194.mp4"}
+{"uid":"11924953441296143692","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the knife\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1538072685462876073.mp4"}
+{"uid":"15210302767562957401","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the stand 2- pick plastic knife 3- drop the knife into the holder 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic knife in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the stand\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 stand\n\u003c/PRED\u003e","video":"6495538306565866329.mp4"}
+{"uid":"13166383633961606871","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":"17615082008665010030.mp4"}
+{"uid":"8920056874923294114","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a cup on 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":"16805597353072721612.mp4"}
+{"uid":"5824959216058623893","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand Q: immediate next step? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into the holder 2- pick up the knife 3- place plastic knife in the pen holder 4- pick plastic knife 5- drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the knife into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife 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":"7154791739582153693.mp4"}
+{"uid":"17821911218936871373","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic knife 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":"9265122613384922941.mp4"}
+{"uid":"800815097148548342","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic knife 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":"590905341876466542.mp4"}
+{"uid":"5066832871660719090","text":"\u003ctask:success:discrete:True\u003e\nplace plastic knife 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 plastic knife in the pen holder\n\u003c/PRED\u003e","video":"5511611019898719511.mp4"}
+{"uid":"17793804495806316130","text":"\u003ctask:success:discrete:True\u003e\ndrop the knife into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e","video":"15884744988777395833.mp4"}
+{"uid":"13780390508435761468","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"777769904552051039.mp4"}
+{"uid":"15628485597431501396","text":"\u003ctask:success:discrete:True\u003e\npick plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 plastic knife\n\u003c/PRED\u003e","video":"18430981594469681952.mp4"}
+{"uid":"6632192758432585108","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":"16900692363815595169.mp4"}
+{"uid":"7240819240044516182","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":"15234154947364325455.mp4"}
+{"uid":"11317956886140427015","text":"\u003ctask:success:discrete:False\u003e\npick up the plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the plastic knife 2- place plastic knife in the pen holder 3- pick plastic knife 4- drop the knife into the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder Q: immediate next step? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e","video":"8115048446123143156.mp4"}
+{"uid":"2731331722475022818","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":"1529194578423844269.mp4"}
+{"uid":"5551527290063337276","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place plastic knife in the pen holder 2- pick plastic knife 3- drop the knife into the holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder Q: immediate next step? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace plastic knife 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 plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace plastic knife in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e","video":"485922015381394938.mp4"}
+{"uid":"1604554264750977376","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":"4988839963126079768.mp4"}
+{"uid":"16570967034626540646","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife Q: next 5 steps? \u003cPRED\u003eA: 1- place plastic knife in the pen holder 2- place plastic knife in the pen holder 3- pick plastic knife 4- drop the knife into the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace plastic knife in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife Q: immediate next step? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace plastic knife in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: place plastic knife in the pen holder\n\u003c/PRED\u003e","video":"16712737010747682058.mp4"}
+{"uid":"9235563642460676597","text":"\u003ctask:success:discrete:True\u003e\nput the plastic knife in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder 9- put the plastic knife in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder 9- put the plastic knife in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e","video":"17709808719923177723.mp4"}
+{"uid":"18007328028628938404","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick plastic knife\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11499592515566987229.mp4"}
+{"uid":"4007073477549200812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen stand 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":"8000853214036610908.mp4"}
+{"uid":"15711819014154992272","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":"6474834912650046435.mp4"}
+{"uid":"3470563632707409187","text":"\u003ctask:success:discrete:True\u003e\ndrop the knife into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e","video":"11278359073848230918.mp4"}
+{"uid":"12723435251355405436","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":"5098748227060518523.mp4"}
+{"uid":"6108055702329713185","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the stand\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 stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic knife in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand 5- pick plastic knife 6- drop the knife into the holder 7- pick up the knife 8- place plastic knife in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the stand 2- done\n\u003c/PRED\u003e","video":"3205153557275687504.mp4"}
+{"uid":"484963496566965998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14032546239086462883.mp4"}
+{"uid":"3053678626627047531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen 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":"10482205257569291724.mp4"}
+{"uid":"11511564398974115734","text":"\u003ctask:success:discrete:True\u003e\nplace plastic knife 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 plastic knife in the pen holder\n\u003c/PRED\u003e","video":"16913402258519306016.mp4"}
+{"uid":"5521562060621631386","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":"4715304513313283466.mp4"}
+{"uid":"16274172864036012961","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":"13305622899860875532.mp4"}
+{"uid":"9694669158081782051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards 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":"785469827861121719.mp4"}
+{"uid":"9188575395943752601","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into the holder 2- pick plastic knife 3- put the plastic knife in the stand 4- pick plastic knife 5- drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the knife 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\ndrop the knife into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife Q: immediate next step? \u003cPRED\u003eA: drop the knife into the holder\n\u003c/PRED\u003e","video":"4950753282948818485.mp4"}
+{"uid":"1318681924623500398","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the plastic knife 2- drop the knife into the holder 3- pick up the knife 4- place plastic knife in the pen holder 5- pick plastic knife\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the knives in the container. last 20 steps: 1- pick plastic knife 2- drop the knife into the holder 3- pick plastic knife 4- put the plastic knife in the stand Q: immediate next step? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the knives in the container Q: immediate next step? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3479078106422792277.mp4"}
+{"uid":"12952703663568177437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16863553933351903647.mp4"}
+{"uid":"15554523709390146044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop popcorn 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":"3786921888988768206.mp4"}
+{"uid":"1685443420636886815","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a blue 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":"699393186078538980.mp4"}
+{"uid":"2279610057714355432","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green glass in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green glass 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 glass 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 15- open the drawer 16- Put the blue glass in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green glass in the drawer 2- Put the pink glass in the drawer 3- Put the blue glass in the drawer 4- Put the green glass in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green glass in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 15- open the drawer 16- Put the blue glass in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the green glass in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the green glass in the drawer\n\u003c/PRED\u003e","video":"11902202252167978531.mp4"}
+{"uid":"4999351369534475230","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Put the blue glass in the drawer 3- Put the green glass in the drawer 4- Put the pink glass in the drawer 5- Put the blue glass in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder 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":"5280721953964362235.mp4"}
+{"uid":"6977160199220547933","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":"9742611822093874936.mp4"}
+{"uid":"9153421618584975375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the toy strawberry. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16092879065403232516.mp4"}
+{"uid":"7975056567421037995","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":"12415758086071407711.mp4"}
+{"uid":"316082354436605142","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":"17275228472960972564.mp4"}
+{"uid":"2632092866009219469","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: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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"4060578455191550741.mp4"}
+{"uid":"224006655043801166","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":"17998946885162124854.mp4"}
+{"uid":"5433404716358398942","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":"1799336120986438768.mp4"}
+{"uid":"5175479564541012049","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic 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: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the apple 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 apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- open the drawer 9- Put the blue glass in the drawer 10- Put the green glass in the drawer 11- Put the pink glass in the drawer 12- Put the blue glass in the drawer 13- Put the green glass in the drawer 14- close the drawer 15- move holder forward 16- Put the plastic spoon in the holder 17- Put the plastic spoon in the holder 18- Put the plastic spoon in the holder 19- Put the plastic spoon in the holder 20- Put the plastic spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the apple 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 apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- open the drawer 9- Put the blue glass in the drawer 10- Put the green glass in the drawer 11- Put the pink glass in the drawer 12- Put the blue glass in the drawer 13- Put the green glass in the drawer 14- close the drawer 15- move holder forward 16- Put the plastic spoon in the holder 17- Put the plastic spoon in the holder 18- Put the plastic spoon in the holder 19- Put the plastic spoon in the holder 20- Put the plastic spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the holder 2- Put the plastic spoon in the holder 3- move the holder inside 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e","video":"14742081695333048305.mp4"}
+{"uid":"14302019913606517946","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 3- open the drawer 4- Put the blue glass in the drawer 5- Put the green glass in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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\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","video":"4092309255774595772.mp4"}
+{"uid":"18395945733149259337","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the tissue paper in the bowl 2- Adjust the tissue paper in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple in the bowl 11- Put the apple in the bowl 12- open the drawer 13- Put the blue glass in the drawer 14- Put the green glass in the drawer 15- Put the pink glass in the drawer 16- Put the blue glass in the drawer 17- Put the green glass in the drawer 18- close the drawer 19- move holder forward 20- Put the plastic spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the holder 2- Put the plastic spoon in the holder 3- Put the plastic spoon in the holder 4- Put the plastic spoon in the holder 5- Put the plastic spoon 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 spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the tissue paper in the bowl 2- Adjust the tissue paper in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple in the bowl 11- Put the apple in the bowl 12- open the drawer 13- Put the blue glass in the drawer 14- Put the green glass in the drawer 15- Put the pink glass in the drawer 16- Put the blue glass in the drawer 17- Put the green glass in the drawer 18- close the drawer 19- move holder forward 20- Put the plastic spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e","video":"9390559516749810937.mp4"}
+{"uid":"14837616395378313711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the wire 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":"5333389358542026169.mp4"}
+{"uid":"3700194683427526369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17969979405286317593.mp4"}
+{"uid":"12811887351138951722","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":"14121150542820470054.mp4"}
+{"uid":"14491604073677812948","text":"\u003ctask:success:discrete:True\u003e\nPut the green glass 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 glass in the drawer\n\u003c/PRED\u003e","video":"3993403996798432319.mp4"}
+{"uid":"7762310301793785469","text":"\u003ctask:success:discrete:False\u003e\nPut the green glass 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 15- open the drawer 16- Put the blue glass in the drawer 17- Put the green glass in the drawer 18- Put the pink glass in the drawer 19- Put the blue glass in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the green glass in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 15- open the drawer 16- Put the blue glass in the drawer 17- Put the green glass in the drawer 18- Put the pink glass in the drawer 19- Put the blue glass in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green glass in the drawer 2- close the drawer 3- move holder forward 4- Put the plastic spoon in the holder 5- Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green glass 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 green glass in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the green glass 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 glass in the drawer\n\u003c/PRED\u003e","video":"3119769377424752896.mp4"}
+{"uid":"4429723095062667827","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the cap to the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4245713929960712357.mp4"}
+{"uid":"5856641075780395080","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":"937667271695824688.mp4"}
+{"uid":"5148399763068197463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red color cookie 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":"15453881709273921844.mp4"}
+{"uid":"7780820075597359703","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- 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 apple in the bowl 4- Put the apple in the bowl 5- open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"4807061491172661029.mp4"}
+{"uid":"2437011250965801962","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the apple 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 apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- open the drawer 11- Put the blue glass in the drawer 12- Put the green glass in the drawer 13- Put the pink glass in the drawer 14- Put the blue glass in the drawer 15- Put the green glass in the drawer 16- close the drawer 17- move holder forward 18- Put the plastic spoon in the holder 19- Put the plastic spoon in the holder 20- Put the plastic spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the apple 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 apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- open the drawer 11- Put the blue glass in the drawer 12- Put the green glass in the drawer 13- Put the pink glass in the drawer 14- Put the blue glass in the drawer 15- Put the green glass in the drawer 16- close the drawer 17- move holder forward 18- Put the plastic spoon in the holder 19- Put the plastic spoon in the holder 20- Put the plastic spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the holder 2- Put the plastic spoon in the holder 3- Put the plastic spoon in the holder 4- Put the plastic spoon in the holder 5- move the holder inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic 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: Put the plastic spoon in the holder\n\u003c/PRED\u003e","video":"7036966345253977462.mp4"}
+{"uid":"9013072594078102776","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue glass in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue glass in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the blue glass in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue glass 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 15- open the drawer 16- Put the blue glass in the drawer 17- Put the green glass in the drawer 18- Put the pink glass in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the blue glass in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 15- open the drawer 16- Put the blue glass in the drawer 17- Put the green glass in the drawer 18- Put the pink glass in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue glass in the drawer 2- Put the green glass in the drawer 3- close the drawer 4- move holder forward 5- Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue glass 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":"13493310668060416575.mp4"}
+{"uid":"8860222441551438735","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up banana peel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"135111173346630176.mp4"}
+{"uid":"10172305874045898794","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the apple 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 apple in the bowl 6- open the drawer 7- Put the blue glass in the drawer 8- Put the green glass in the drawer 9- Put the pink glass in the drawer 10- Put the blue glass in the drawer 11- Put the green glass in the drawer 12- close the drawer 13- move holder forward 14- Put the plastic spoon in the holder 15- Put the plastic spoon in the holder 16- Put the plastic spoon in the holder 17- Put the plastic spoon in the holder 18- Put the plastic spoon in the holder 19- Put the plastic spoon in the holder 20- Put the plastic spoon in the holder Q: immediate next step? \u003cPRED\u003eA: move the holder inside\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the holder inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the holder inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the holder inside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: move the holder inside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the holder 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the apple 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 apple in the bowl 6- open the drawer 7- Put the blue glass in the drawer 8- Put the green glass in the drawer 9- Put the pink glass in the drawer 10- Put the blue glass in the drawer 11- Put the green glass in the drawer 12- close the drawer 13- move holder forward 14- Put the plastic spoon in the holder 15- Put the plastic spoon in the holder 16- Put the plastic spoon in the holder 17- Put the plastic spoon in the holder 18- Put the plastic spoon in the holder 19- Put the plastic spoon in the holder 20- Put the plastic spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- move the holder inside 2- done\n\u003c/PRED\u003e","video":"11161294972297197380.mp4"}
+{"uid":"7369203527478322469","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":"9605202756155477186.mp4"}
+{"uid":"6142155407199263588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the green packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3102949361573152303.mp4"}
+{"uid":"4303884124646091377","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Adjust the tissue paper 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 apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple in the bowl 11- open the drawer 12- Put the blue glass in the drawer 13- Put the green glass in the drawer 14- Put the pink glass in the drawer 15- Put the blue glass in the drawer 16- Put the green glass in the drawer 17- close the drawer 18- move holder forward 19- Put the plastic spoon in the holder 20- Put the plastic spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic 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: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Adjust the tissue paper 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 apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple in the bowl 11- open the drawer 12- Put the blue glass in the drawer 13- Put the green glass in the drawer 14- Put the pink glass in the drawer 15- Put the blue glass in the drawer 16- Put the green glass in the drawer 17- close the drawer 18- move holder forward 19- Put the plastic spoon in the holder 20- Put the plastic spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the holder 2- Put the plastic spoon in the holder 3- Put the plastic spoon in the holder 4- Put the plastic spoon in the holder 5- Put the plastic spoon in the holder\n\u003c/PRED\u003e","video":"11714778969329838650.mp4"}
+{"uid":"1470437556437297194","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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple 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 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"9520526138258582420.mp4"}
+{"uid":"3352378236364139321","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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: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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 4- open the drawer 5- Put the blue glass in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"262895702289567230.mp4"}
+{"uid":"12630902818146136717","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":"10359097865620945954.mp4"}
+{"uid":"13072822647281336113","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Adjust the tissue paper in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the tissue paper in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the tissue paper in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 tissue paper in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the tissue paper 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 apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl Q: immediate next step? \u003cPRED\u003eA: Adjust the tissue paper in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the tissue paper in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6646268650101127177.mp4"}
+{"uid":"10168642854024011002","text":"\u003ctask:success:discrete:False\u003e\nPut the tissue paper in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue paper in the bowl 2- Adjust the tissue paper 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue paper in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue paper in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer Q: immediate next step? \u003cPRED\u003eA: Put the tissue paper in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the tissue paper in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue paper in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17145505973346670325.mp4"}
+{"uid":"2681593740604776900","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":"5017267863138125019.mp4"}
+{"uid":"16076947562294126495","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the apple 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 apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask: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":"14488598684490267888.mp4"}
+{"uid":"1683284868465485244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9601812528122529507.mp4"}
+{"uid":"12883363457221091703","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the apple 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 apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- open the drawer 10- Put the blue glass in the drawer 11- Put the green glass in the drawer 12- Put the pink glass in the drawer 13- Put the blue glass in the drawer 14- Put the green glass in the drawer 15- close the drawer 16- move holder forward 17- Put the plastic spoon in the holder 18- Put the plastic spoon in the holder 19- Put the plastic spoon in the holder 20- Put the plastic spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the holder 2- Put the plastic spoon in the holder 3- Put the plastic spoon in the holder 4- move the holder inside 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the apple 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 apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- open the drawer 10- Put the blue glass in the drawer 11- Put the green glass in the drawer 12- Put the pink glass in the drawer 13- Put the blue glass in the drawer 14- Put the green glass in the drawer 15- close the drawer 16- move holder forward 17- Put the plastic spoon in the holder 18- Put the plastic spoon in the holder 19- Put the plastic spoon in the holder 20- Put the plastic spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon 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 spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1795859137035578540.mp4"}
+{"uid":"17383699994937651737","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in smaller 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":"13637893092773675735.mp4"}
+{"uid":"6246164583303518843","text":"\u003ctask:success:discrete:True\u003e\nAdjust the tissue paper 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: Adjust the tissue paper in the bowl\n\u003c/PRED\u003e","video":"11501717069340303811.mp4"}
+{"uid":"8104921463948917112","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- 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 apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"3088081829827629819.mp4"}
+{"uid":"7803394291557311240","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue paper on the table 2- close the drawer 3- Put the tissue paper in the bowl 4- Adjust the tissue paper in the bowl 5- Put the apple in the bowl\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","video":"17088829922409162982.mp4"}
+{"uid":"5413781546079992184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm towards 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":"12453019369617413914.mp4"}
+{"uid":"5388868582380592948","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":"552752606622786656.mp4"}
+{"uid":"18442337107849857492","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:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- 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 apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e","video":"6805739476692148184.mp4"}
+{"uid":"13134163345416416249","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":"1234464427885369322.mp4"}
+{"uid":"9276596512853217356","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the apple 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 apple in the bowl 6- Put the apple in the bowl 7- open the drawer 8- Put the blue glass in the drawer 9- Put the green glass in the drawer 10- Put the pink glass in the drawer 11- Put the blue glass in the drawer 12- Put the green glass in the drawer 13- close the drawer 14- move holder forward 15- Put the plastic spoon in the holder 16- Put the plastic spoon in the holder 17- Put the plastic spoon in the holder 18- Put the plastic spoon in the holder 19- Put the plastic spoon in the holder 20- Put the plastic spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the holder 2- move the holder inside 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the apple 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 apple in the bowl 6- Put the apple in the bowl 7- open the drawer 8- Put the blue glass in the drawer 9- Put the green glass in the drawer 10- Put the pink glass in the drawer 11- Put the blue glass in the drawer 12- Put the green glass in the drawer 13- close the drawer 14- move holder forward 15- Put the plastic spoon in the holder 16- Put the plastic spoon in the holder 17- Put the plastic spoon in the holder 18- Put the plastic spoon in the holder 19- Put the plastic spoon in the holder 20- Put the plastic spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e","video":"16977888022897710081.mp4"}
+{"uid":"16940184363567254269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npicking up the nut and dropping in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11650751546460501948.mp4"}
+{"uid":"4056190090684417053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brush 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":"9009007203672899398.mp4"}
+{"uid":"12652524312322795033","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:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 2- open the drawer 3- Put the blue glass in the drawer 4- Put the green glass in the drawer 5- Put the pink glass in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 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":"17344711341475550880.mp4"}
+{"uid":"1876181682223501582","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 15- open the drawer 16- Put the blue glass in the drawer 17- Put the green glass in the drawer 18- Put the pink glass in the drawer 19- Put the blue glass in the drawer 20- Put the green glass in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 15- open the drawer 16- Put the blue glass in the drawer 17- Put the green glass in the drawer 18- Put the pink glass in the drawer 19- Put the blue glass in the drawer 20- Put the green glass in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- move holder forward 3- Put the plastic spoon in the holder 4- Put the plastic spoon in the holder 5- Put the plastic spoon in the holder\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":"14799977642407418206.mp4"}
+{"uid":"13805673397299754154","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move holder forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: move holder forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the tissue paper on the table 2- close the drawer 3- Put the tissue paper in the bowl 4- Adjust the tissue paper in the bowl 5- Put the apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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- open the drawer 15- Put the blue glass in the drawer 16- Put the green glass in the drawer 17- Put the pink glass in the drawer 18- Put the blue glass in the drawer 19- Put the green glass in the drawer 20- close the drawer Q: immediate next step? \u003cPRED\u003eA: move holder forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move holder forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove holder 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 holder forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- Put the tissue paper on the table 2- close the drawer 3- Put the tissue paper in the bowl 4- Adjust the tissue paper in the bowl 5- Put the apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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- open the drawer 15- Put the blue glass in the drawer 16- Put the green glass in the drawer 17- Put the pink glass in the drawer 18- Put the blue glass in the drawer 19- Put the green glass in the drawer 20- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- move holder forward 2- Put the plastic spoon in the holder 3- Put the plastic spoon in the holder 4- Put the plastic spoon in the holder 5- Put the plastic spoon in the holder\n\u003c/PRED\u003e","video":"13204440118076607576.mp4"}
+{"uid":"13548255764731944653","text":"\u003ctask:success:discrete:False\u003e\nPut the plastic 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- close the drawer 2- Put the tissue paper in the bowl 3- Adjust the tissue paper in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple in the bowl 11- Put the apple in the bowl 12- Put the apple in the bowl 13- open the drawer 14- Put the blue glass in the drawer 15- Put the green glass in the drawer 16- Put the pink glass in the drawer 17- Put the blue glass in the drawer 18- Put the green glass in the drawer 19- close the drawer 20- move holder forward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the holder 2- Put the plastic spoon in the holder 3- Put the plastic spoon in the holder 4- Put the plastic spoon in the holder 5- Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- close the drawer 2- Put the tissue paper in the bowl 3- Adjust the tissue paper in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple in the bowl 11- Put the apple in the bowl 12- Put the apple in the bowl 13- open the drawer 14- Put the blue glass in the drawer 15- Put the green glass in the drawer 16- Put the pink glass in the drawer 17- Put the blue glass in the drawer 18- Put the green glass in the drawer 19- close the drawer 20- move holder forward Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the holder\n\u003c/PRED\u003e","video":"6695130357564844092.mp4"}
+{"uid":"2975718631664198087","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":"765561209288195654.mp4"}
+{"uid":"5397020573537009649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black marker in the penholder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2865113080899272988.mp4"}
+{"uid":"42469131675837158","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- Put the tissue paper in the bowl 3- Adjust the tissue paper in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"8371057650084693133.mp4"}
+{"uid":"12050432761476534344","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tissue paper on the table\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","video":"16876008465699633818.mp4"}
+{"uid":"10975688061032422062","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink glass in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink glass 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 pink glass 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 15- open the drawer 16- Put the blue glass in the drawer 17- Put the green glass in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the pink glass in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink glass in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 15- open the drawer 16- Put the blue glass in the drawer 17- Put the green glass in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink glass in the drawer 2- Put the blue glass in the drawer 3- Put the green glass in the drawer 4- close the drawer 5- move holder forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the pink glass in the drawer\n\u003c/PRED\u003e","video":"17914911450904100996.mp4"}
+{"uid":"13497144614618202098","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue glass in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue glass 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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder Q: immediate next step? \u003cPRED\u003eA: Put the blue glass in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 15- open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the blue glass in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue glass 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 blue glass in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl 6- Put the apple in the bowl 7- Put the apple in the bowl 8- Put the apple in the bowl 9- Put the apple in the bowl 10- Put the apple 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 apple in the bowl 15- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue glass in the drawer 2- Put the green glass in the drawer 3- Put the pink glass in the drawer 4- Put the blue glass in the drawer 5- Put the green glass in the drawer\n\u003c/PRED\u003e","video":"9009552108212856770.mp4"}
+{"uid":"8060389014605367931","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":"9067288139602465346.mp4"}
+{"uid":"3380519533175031101","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: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper 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 apple in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Add the paper bowl liner from the top left drawer to the fruit bowl, stock the apples into the bowl, put the cups away into the top right drawer, then stock the loose spoons into the spoon holder. last 20 steps: 1- open the drawer 2- Put the tissue paper on the table 3- close the drawer 4- Put the tissue paper in the bowl 5- Adjust the tissue paper in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"11143994091865671559.mp4"}
+{"uid":"8186001520162506398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a ROLD GOLD 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":"11800643515638946823.mp4"}
+{"uid":"14123055554171027143","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":"7114924050349107369.mp4"}
+{"uid":"3199981081673907986","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":"1410475053579304976.mp4"}
+{"uid":"3233483727639040745","text":"\u003ctask:success:discrete:False\u003e\nPut the yellow packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the tray 2- put rold gold packet in the tray 3- place a ROLD GOLD packet in tray 4- Put the yellow packet in the tray 5- Adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e","video":"1974738786999382992.mp4"}
+{"uid":"2855887270045211159","text":"\u003ctask:success:discrete:True\u003e\nput rold gold 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 rold gold packet in the tray\n\u003c/PRED\u003e","video":"6824293790796136311.mp4"}
+{"uid":"6094959041515348827","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput rold gold packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray Q: immediate next step? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put rold gold packet in the tray 2- Put the yellow packet in the tray 3- Adjust the packet 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput rold gold 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":"12537530737069151997.mp4"}
+{"uid":"10809645443496262661","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a ROLD GOLD packet in tray 2- Put the yellow packet in the tray 3- Adjust the packet 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a ROLD GOLD packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1287203276408913377.mp4"}
+{"uid":"17998985063428110136","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray 5- Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e","video":"6408694833028524835.mp4"}
+{"uid":"17582097636271382969","text":"\u003ctask:success:discrete:True\u003e\nput rold gold 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 rold gold packet in the tray\n\u003c/PRED\u003e","video":"2029512929549486251.mp4"}
+{"uid":"3360010755819714428","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Adjust the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray 5- Put the yellow packet in the tray 6- Adjust the packet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray 5- Put the yellow packet in the tray 6- Adjust the packet Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nAdjust 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":"2531288194122901474.mp4"}
+{"uid":"653386844375863922","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput rold gold 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":"2724469719109229316.mp4"}
+{"uid":"2014460156651461193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3376620599147953759.mp4"}
+{"uid":"15621316045952019686","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a ROLD GOLD packet in tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray Q: immediate next step? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a ROLD GOLD packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a ROLD GOLD 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e","video":"12330344369958299340.mp4"}
+{"uid":"8179360940380059772","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the tray 2- Put the yellow packet in the tray 3- Adjust the packet 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e","video":"11827013153684143877.mp4"}
+{"uid":"349184242006182783","text":"\u003ctask:success:discrete:True\u003e\nPut the yellow 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 yellow packet in the tray\n\u003c/PRED\u003e","video":"17809598159138251911.mp4"}
+{"uid":"1452654205301403720","text":"\u003ctask:success:discrete:True\u003e\nPut the yellow 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 yellow packet in the tray\n\u003c/PRED\u003e","video":"16117821852005888088.mp4"}
+{"uid":"7555454111456519600","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cream packets in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1248910654125684929.mp4"}
+{"uid":"12937271476658946554","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":"3665781117526886986.mp4"}
+{"uid":"4094234343093980585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white 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":"2178871318315427746.mp4"}
+{"uid":"10618471038122198212","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the tray 2- place a ROLD GOLD packet in tray 3- Put the yellow packet in the tray 4- Adjust the packet 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1213904697148527564.mp4"}
+{"uid":"1838470336936061856","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a ROLD GOLD packet in tray 2- place a ROLD GOLD packet in tray 3- Put the yellow packet in the tray 4- Adjust the packet 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a ROLD GOLD packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10001683541808835427.mp4"}
+{"uid":"8033049064846315714","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray Q: immediate next step? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput rold gold packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put rold gold packet in the tray 2- place a ROLD GOLD packet in tray 3- Put the yellow packet in the tray 4- Adjust the packet 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e","video":"6290830326906309511.mp4"}
+{"uid":"15559727219123577485","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput rold gold packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 5 rold gold chip bags into the basket on the right side. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray 5- Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput rold gold 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":"9777165721395765269.mp4"}
+{"uid":"2055456269115637464","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput rold gold packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- place a ROLD GOLD packet in tray 4- Put the yellow packet in the tray 5- Adjust the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput rold gold 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 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray Q: immediate next step? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e","video":"3747381105627943286.mp4"}
+{"uid":"3675325963111842957","text":"\u003ctask:success:discrete:True\u003e\nPut the yellow 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 yellow packet in the tray\n\u003c/PRED\u003e","video":"15900790106766181994.mp4"}
+{"uid":"1492014625758069017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen into 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":"3763947061786617861.mp4"}
+{"uid":"16792248679209936694","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the tray 2- Adjust the packet 3- done\n\u003c/PRED\u003e","video":"6597332782666699794.mp4"}
+{"uid":"9459466723269499940","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put rold gold packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray Q: immediate next step? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput rold gold packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput rold gold packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3802483194300570920.mp4"}
+{"uid":"1087249754043594763","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a ROLD GOLD packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10202100079991826529.mp4"}
+{"uid":"14208076043683973049","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray 5- Put the yellow packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the packet 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray 5- Put the yellow packet in the tray Q: immediate next step? \u003cPRED\u003eA: Adjust the packet\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: place 5 rold gold chip bags into the basket on the right side. 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: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: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","video":"17280182251240778100.mp4"}
+{"uid":"11305155903740439737","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9743741551133192065.mp4"}
+{"uid":"18314093393789643022","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a ROLD GOLD packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a ROLD GOLD packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a ROLD GOLD packet in tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray 5- Put the yellow packet in the tray\n\u003c/PRED\u003e","video":"6595627178658728575.mp4"}
+{"uid":"9789162325260762809","text":"\u003ctask:success:discrete:True\u003e\nPut the yellow 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 yellow packet in the tray\n\u003c/PRED\u003e","video":"2804083157505733503.mp4"}
+{"uid":"9387101559106841812","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":"18152514959853116239.mp4"}
+{"uid":"1987499272624781502","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray 5- place a ROLD GOLD packet 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: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a ROLD GOLD 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray 5- place a ROLD GOLD packet in tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8172110415502101762.mp4"}
+{"uid":"9579916910190576874","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a ROLD GOLD packet in tray 2- put rold gold packet in the tray 3- place a ROLD GOLD packet in tray 4- Put the yellow packet in the tray 5- Adjust the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a ROLD GOLD packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a ROLD GOLD 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":"17785239669629737214.mp4"}
+{"uid":"8440011809776670063","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":"12365495609859305207.mp4"}
+{"uid":"9143140330788019809","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16169264010858770016.mp4"}
+{"uid":"5549224086240902414","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12118859436835331773.mp4"}
+{"uid":"6204717408034978354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move 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":"14948334675023695785.mp4"}
+{"uid":"3414571765172575798","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":"2198704510278414584.mp4"}
+{"uid":"846261317954655166","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput rold gold 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":"6455050763728474339.mp4"}
+{"uid":"12817724925991823028","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a ROLD GOLD 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:success:discrete:True\u003e\nplace a ROLD GOLD packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e","video":"17199922927644277820.mp4"}
+{"uid":"11443086569836859530","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPour the objects on the table from the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2131935534520098072.mp4"}
+{"uid":"5541464216155237942","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray 5- put rold gold packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put rold gold packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray 3- put rold gold packet in the tray 4- place a ROLD GOLD packet in tray 5- put rold gold packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput rold gold 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":"6137424068978181869.mp4"}
+{"uid":"5762556660397299871","text":"\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:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: Adjust the packet\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the packet 2- put rold gold packet in the tray 3- place a ROLD GOLD packet in tray 4- Put the yellow packet in the tray 5- Adjust the packet\n\u003c/PRED\u003e","video":"5562809298265223070.mp4"}
+{"uid":"13414242676264511718","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a ROLD GOLD packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. Q: immediate next step? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place 5 rold gold chip bags into the basket on the right side. last 20 steps: 1- put rold gold packet in the tray 2- put rold gold packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a ROLD GOLD packet in tray 2- place a ROLD GOLD packet in tray 3- Put the yellow packet in the tray 4- Adjust the packet 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a ROLD GOLD 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":"10650353135540480155.mp4"}
+{"uid":"10997315187280283750","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the yellow 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":"8673466483869537357.mp4"}
+{"uid":"2610324772988622165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace small clip inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11112709983767710059.mp4"}
+{"uid":"11722691483203854135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2133784603893801526.mp4"}
+{"uid":"16936569174620935052","text":"\u003ctask:success:discrete:True\u003e\nplace a ROLD GOLD packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e","video":"3143882980815844850.mp4"}
+{"uid":"4818136130849195275","text":"\u003ctask:success:discrete:True\u003e\nplace a ROLD GOLD packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a ROLD GOLD packet in tray\n\u003c/PRED\u003e","video":"6916456228419217784.mp4"}
+{"uid":"9812697536982286026","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":"11744717036515558515.mp4"}
+{"uid":"14257622149032957913","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":"4626005991393813666.mp4"}
+{"uid":"10708529401817141989","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: drop green marker into glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop green marker into glass 2- Pick the green marker 3- Put the green marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop green marker into glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop green marker into glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass Q: immediate next step? \u003cPRED\u003eA: drop green marker into glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop green marker into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop green marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2238344368493955662.mp4"}
+{"uid":"6687927257306311409","text":"\u003ctask:success:discrete:True\u003e\nplace the 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: place the marker into the cup\n\u003c/PRED\u003e","video":"7371261232990416024.mp4"}
+{"uid":"5177421545133555121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"6127617861186726943.mp4"}
+{"uid":"16556363196103230929","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a yellow marker in middle glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a yellow marker in middle 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":"3076720794306880742.mp4"}
+{"uid":"7772708679383514649","text":"\u003ctask:success:discrete:True\u003e\nplace the 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: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass 3- drop green marker into glass 4- Pick the green marker 5- place the marker into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass 3- drop green marker into glass 4- Pick the green marker 5- place the marker into the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17180444628886676006.mp4"}
+{"uid":"16113988559405518213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11351533034671649946.mp4"}
+{"uid":"6828999816042885013","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a orange marker in right glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a orange marker in right 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":"4848979553934738808.mp4"}
+{"uid":"2426863867775471811","text":"\u003ctask:success:discrete:True\u003e\nunstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e","video":"11744567494081092616.mp4"}
+{"uid":"7191980294467766051","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass 3- drop green marker into glass Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the green marker 2- Put the green marker in the glass 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the green marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the green marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass 3- drop green marker into glass Q: immediate next step? \u003cPRED\u003eA: Pick the green marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the green marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: Pick the green marker\n\u003c/PRED\u003e","video":"13374129542440591123.mp4"}
+{"uid":"7259876125682708820","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":"10707224962153514592.mp4"}
+{"uid":"2209742697788369651","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pear 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":"2727208378359529265.mp4"}
+{"uid":"7032066532985720360","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin. last 20 steps: 1- Pick up the bottle from the table 2- exit the room Q: immediate next step? \u003cPRED\u003eA: drop the bottle into the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin. last 20 steps: 1- Pick up the bottle from the table 2- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bottle into the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bottle into the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bottle into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bottle into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin Q: immediate next step? \u003cPRED\u003eA: drop the bottle into the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bottle into the dustbin\n\u003c/PRED\u003e","video":"511153957453244664.mp4"}
+{"uid":"2367335741013552487","text":"\u003ctask:success:discrete:True\u003e\npick up the scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e","video":"11453430293469469798.mp4"}
+{"uid":"3868758995560040759","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":"16988365582815272520.mp4"}
+{"uid":"9846221305305346572","text":"\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin. last 20 steps: 1- Pick up the bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- drop the bottle into the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin. last 20 steps: 1- Pick up the bottle from the table Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin 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":"16182070923428174391.mp4"}
+{"uid":"7202184498135938186","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":"16105033859566939060.mp4"}
+{"uid":"5151017240923450565","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":"15520799973765259728.mp4"}
+{"uid":"5300794999276378326","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottle from the table 2- exit the room 3- drop the bottle into the dustbin 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottle from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin Q: immediate next step? \u003cPRED\u003eA: Pick up the bottle from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the bottle from the table\n\u003c/PRED\u003e","video":"8538449214106038098.mp4"}
+{"uid":"1471904656239859813","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table 3- pick up the scoop 4- place the pistachios in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the pistachios in the cup 2- place the pistachios in the cup 3- place the scoop in the stand 4- close the lid of jar 5- ajdust the pistachios cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table 3- pick up the scoop 4- place the pistachios in the cup Q: immediate next step? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e","video":"9177835095769846652.mp4"}
+{"uid":"3979265484633341662","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange marker in the glass 2- Put the yellow marker in the glass 3- drop green marker into glass 4- Pick the green marker 5- Put the green marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: Put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11444847981159500306.mp4"}
+{"uid":"2525101168072478003","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the yellow marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11274019569715230527.mp4"}
+{"uid":"5650780551374548927","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":"5401782435437904908.mp4"}
+{"uid":"3643983913061039392","text":"\u003ctask:success:discrete:False\u003e\nplace a yellow marker in middle glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a yellow marker in middle 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 the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: place a yellow marker in middle glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a yellow marker in middle glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass Q: next 5 steps? \u003cPRED\u003eA: 1- place a yellow marker in middle glass 2- drop green marker into glass 3- Pick the green marker 4- Put the green marker in the glass 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass Q: immediate next step? \u003cPRED\u003eA: place a yellow marker in middle glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a yellow marker in middle glass\n\u003c/PRED\u003e","video":"5519270980234026316.mp4"}
+{"uid":"13401364096426795518","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the yellow marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5170888993806820458.mp4"}
+{"uid":"2176845787801122617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tissue 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":"5643116676163171671.mp4"}
+{"uid":"9669141343828624036","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":"15044694753340464695.mp4"}
+{"uid":"5419294593383942471","text":"\u003ctask:success:discrete:True\u003e\nplace the pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e","video":"9199195747716606450.mp4"}
+{"uid":"6848676605751343501","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a yellow marker in middle glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a yellow marker in middle 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":"3874669886085982387.mp4"}
+{"uid":"14458332176433033088","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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","video":"7545849346212167317.mp4"}
+{"uid":"977398394763030164","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass 3- drop green marker into glass 4- Pick the green marker Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker into the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass 3- drop green marker into glass 4- Pick the green marker Q: immediate next step? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: place the marker into the cup\n\u003c/PRED\u003e","video":"1725458376702437843.mp4"}
+{"uid":"7862547893239082945","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":"1285855379548007211.mp4"}
+{"uid":"7992375132329509402","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table 3- pick up the scoop 4- place the pistachios in the cup 5- place the pistachios in the cup 6- place the pistachios in the cup 7- place the scoop in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid of jar 2- ajdust the pistachios cup 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table 3- pick up the scoop 4- place the pistachios in the cup 5- place the pistachios in the cup 6- place the pistachios in the cup 7- place the scoop in the stand Q: immediate next step? \u003cPRED\u003eA: close the lid of jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: close the lid of jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lid of 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 jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lid of jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the lid of 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":"12287835808115905138.mp4"}
+{"uid":"4816894078592255551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bunch of grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12294650849849690270.mp4"}
+{"uid":"11296901723155378755","text":"\u003ctask:success:discrete:True\u003e\nplace the pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e","video":"4650496437517769338.mp4"}
+{"uid":"8225963640001649022","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a cup 2- place jar lid on the table 3- pick up the scoop 4- place the pistachios in the cup 5- place the pistachios in the cup\n\u003c/PRED\u003e","video":"3495414904411367733.mp4"}
+{"uid":"10478265154758361086","text":"\u003ctask:success:discrete:False\u003e\nplace jar 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 jar lid on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup Q: immediate next step? \u003cPRED\u003eA: place jar lid on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- place jar lid on the table 2- pick up the scoop 3- place the pistachios in the cup 4- place the pistachios in the cup 5- place the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace jar 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place jar lid on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: place jar lid on the table\n\u003c/PRED\u003e","video":"2015816796051195265.mp4"}
+{"uid":"4619912433039097467","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":"9437882978229917971.mp4"}
+{"uid":"1948498450445865675","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- place the pistachios in the cup 2- place the pistachios in the cup 3- place the pistachios in the cup 4- place the scoop in the stand 5- close the lid of jar\n\u003c/PRED\u003e","video":"2763742843814849580.mp4"}
+{"uid":"16438840782816783977","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":"14659121527966234906.mp4"}
+{"uid":"17787728571070188327","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":"5837187968718995384.mp4"}
+{"uid":"15032785416612656119","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":"473790148332156758.mp4"}
+{"uid":"16570476112720590934","text":"\u003ctask:success:discrete:False\u003e\nPut the green marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass 3- drop green marker into glass 4- Pick the green marker Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass 3- drop green marker into glass 4- Pick the green marker Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green marker in the glass 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green marker in the glass\n\u003c/PRED\u003e","video":"6037013754470990094.mp4"}
+{"uid":"13433433366148137489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chess piece on the chess board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1573811612762404700.mp4"}
+{"uid":"6772912932216176201","text":"\u003ctask:success:discrete:False\u003e\nplace a orange marker in right 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 place the highlighters into the cup by color. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a orange marker in right glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a orange marker in right glass 2- Put the yellow marker in the glass 3- drop green marker into glass 4- Pick the green marker 5- Put the green marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: place a orange marker in right glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a orange marker in right 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 a orange marker in right glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a orange marker in right glass\n\u003c/PRED\u003e","video":"18013290364790537156.mp4"}
+{"uid":"1489746436669392865","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the lid of jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the lid of 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":"9518518833395879720.mp4"}
+{"uid":"9207813365976668829","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":"13062376495871945040.mp4"}
+{"uid":"5720227266553740408","text":"\u003ctask:success:discrete:True\u003e\ndrop green marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop green marker into glass\n\u003c/PRED\u003e","video":"4788088152545312995.mp4"}
+{"uid":"10643644604603720029","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":"10744197209557107734.mp4"}
+{"uid":"14164600230952278752","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table 3- pick up the scoop 4- place the pistachios in the cup 5- place the pistachios in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the pistachios in the cup 2- place the scoop in the stand 3- close the lid of jar 4- ajdust the pistachios cup 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table 3- pick up the scoop 4- place the pistachios in the cup 5- place the pistachios in the cup Q: immediate next step? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e","video":"13218196905604992378.mp4"}
+{"uid":"18200707234714081224","text":"\u003ctask:success:discrete:False\u003e\nplace a yellow marker in middle glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a yellow marker in middle 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 the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: place a yellow marker in middle glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place a yellow marker in middle glass 2- Pick the green marker 3- Put the green marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a yellow marker in middle glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass Q: immediate next step? \u003cPRED\u003eA: place a yellow marker in middle glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a yellow marker in middle glass\n\u003c/PRED\u003e","video":"15141530999276130324.mp4"}
+{"uid":"13114062255067204720","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10495528211147346158.mp4"}
+{"uid":"8592303816234649172","text":"\u003ctask:success:discrete:True\u003e\nplace the 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: place the marker into the cup\n\u003c/PRED\u003e","video":"9948651837167832114.mp4"}
+{"uid":"11412065586017980124","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pistachios in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pistachios in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4230472498067458797.mp4"}
+{"uid":"4328677741500549743","text":"\u003ctask:success:discrete:False\u003e\nplace the scoop in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: place the scoop in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the scoop in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table 3- pick up the scoop 4- place the pistachios in the cup 5- place the pistachios in the cup 6- place the pistachios in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the scoop in the stand 2- close the lid of jar 3- ajdust the pistachios cup 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table 3- pick up the scoop 4- place the pistachios in the cup 5- place the pistachios in the cup 6- place the pistachios in the cup Q: immediate next step? \u003cPRED\u003eA: place the scoop in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the scoop in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the scoop in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9801161549677700851.mp4"}
+{"uid":"13539283869037234852","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bottle into the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the bottle into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin. last 20 steps: 1- Pick up the bottle from the table 2- exit the room 3- drop the bottle into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin. last 20 steps: 1- Pick up the bottle from the table 2- exit the room 3- drop the bottle into the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5211302400667920396.mp4"}
+{"uid":"6832657364700922632","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange marker into glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop orange marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5433312781886754938.mp4"}
+{"uid":"13892775726150241924","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: ajdust the pistachios cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table 3- pick up the scoop 4- place the pistachios in the cup 5- place the pistachios in the cup 6- place the pistachios in the cup 7- place the scoop in the stand 8- close the lid of jar Q: next 5 steps? \u003cPRED\u003eA: 1- ajdust the pistachios cup 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table 3- pick up the scoop 4- place the pistachios in the cup 5- place the pistachios in the cup 6- place the pistachios in the cup 7- place the scoop in the stand 8- close the lid of jar Q: immediate next step? \u003cPRED\u003eA: ajdust the pistachios cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: ajdust the pistachios cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\najdust the pistachios 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\najdust the pistachios 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: ajdust the pistachios cup\n\u003c/PRED\u003e","video":"7748025543506317009.mp4"}
+{"uid":"15536737810634808972","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"16429753801577800605.mp4"}
+{"uid":"6312886325540148711","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":"9878575196632355020.mp4"}
+{"uid":"11026633881215678317","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":"15252370257374196877.mp4"}
+{"uid":"9254170620683457842","text":"\u003ctask:success:discrete:True\u003e\nPut the green 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass 3- drop green marker into glass 4- Pick the green marker 5- Put the green marker 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 the green marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass 3- drop green marker into glass 4- Pick the green marker 5- Put the green marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"732897730115049537.mp4"}
+{"uid":"6255951014694126149","text":"\u003ctask:success:discrete:True\u003e\nplace the scoop in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the scoop in the stand\n\u003c/PRED\u003e","video":"3700948446684167809.mp4"}
+{"uid":"7348072098094722422","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop yellow mark into glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop yellow mark into glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop yellow mark into glass 2- Pick the green marker 3- Put the green marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass Q: immediate next step? \u003cPRED\u003eA: drop yellow mark into glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop yellow mark into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: drop yellow mark into glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop yellow mark into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12101625536338697571.mp4"}
+{"uid":"10801325716322017207","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker into the cup 2- Put the yellow marker in the glass 3- drop green marker into glass 4- Pick the green marker 5- Put the green marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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","video":"10283843111782609370.mp4"}
+{"uid":"1160160729333172175","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow marker in the glass 2- Pick the green marker 3- Put the green marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow 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","video":"17238640760539826004.mp4"}
+{"uid":"2484048316542942629","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2460295628146551331.mp4"}
+{"uid":"13674305045521865455","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":"8095258401115865185.mp4"}
+{"uid":"3852153511393493522","text":"\u003ctask:success:discrete:False\u003e\nplace the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker into the cup 2- Pick the green marker 3- Put the green marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass 2- Put the yellow marker in the glass Q: immediate next step? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e","video":"2368003802447343104.mp4"}
+{"uid":"10206015455460773392","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the scoop 2- place the pistachios in the cup 3- place the pistachios in the cup 4- place the pistachios in the cup 5- place the scoop in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place jar lid on the table\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- unstack a cup 2- place jar lid on the table Q: immediate next step? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace jar 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e","video":"16466711964516501697.mp4"}
+{"uid":"2245670331727183074","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker into the cup 2- drop green marker into glass 3- Pick the green marker 4- Put the green marker in the glass 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass Q: immediate next step? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker into the cup\n\u003c/PRED\u003e","video":"4988540571946684902.mp4"}
+{"uid":"2703058451915820206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange candy 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":"8824131341862935999.mp4"}
+{"uid":"5510006891975312716","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow marker in the glass 2- drop green marker into glass 3- Pick the green marker 4- Put the green marker in the glass 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: 1- place a orange marker in right glass Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow 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","video":"8484322823290316599.mp4"}
+{"uid":"7608860921849146900","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":"10489396849697137781.mp4"}
+{"uid":"11417547334084748918","text":"\u003ctask:success:discrete:True\u003e\ndrop yellow mark into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop yellow mark into glass\n\u003c/PRED\u003e","video":"4291691302039782356.mp4"}
+{"uid":"14254520083438008830","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange marker into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange marker into glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop orange marker into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop orange marker into glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange marker into glass 2- Put the yellow marker in the glass 3- drop green marker into glass 4- Pick the green marker 5- Put the green marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the highlighters into the cup by color Q: immediate next step? \u003cPRED\u003eA: drop orange marker into glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange marker into glass\n\u003c/PRED\u003e","video":"13949457515521374021.mp4"}
+{"uid":"11214290619401826334","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":"829256827879108271.mp4"}
+{"uid":"11418521916725513074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15327657518445716300.mp4"}
+{"uid":"7462663421395138878","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana on the table 2- Put the banana on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on 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:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\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: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","video":"1561446879636562843.mp4"}
+{"uid":"806183079893722265","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":"16169780925184258815.mp4"}
+{"uid":"14505130776310984679","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:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- Put the banana on the table 5- Put the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e","video":"7236759094614665289.mp4"}
+{"uid":"5244080072689282663","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table 8- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table 8- put the banana on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e","video":"10833555724945330325.mp4"}
+{"uid":"2238542208065473511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"4506400196238659357.mp4"}
+{"uid":"8052226092101733149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhold the green potted plaint Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18208371090448528420.mp4"}
+{"uid":"12546197520361125258","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14031042990325581954.mp4"}
+{"uid":"2383525556887140709","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","video":"6544098109794429344.mp4"}
+{"uid":"11677812812558844426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9989259043352201491.mp4"}
+{"uid":"262474053289094420","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":"7587855489325654964.mp4"}
+{"uid":"8392458072841473808","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 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: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana on the table 2- Put the banana on the table 3- put the banana on the table 4- Put the banana on the table 5- Put the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \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","video":"9486403634183971066.mp4"}
+{"uid":"3444470724928763177","text":"\u003ctask:success:discrete:False\u003e\nput banana on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the tissue 2- put the banana on the table 3- Put the banana on the table 4- Put the banana on the table 5- Put the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7161834103391704691.mp4"}
+{"uid":"9850347547282081975","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana on the table 2- Put the banana on the table 3- put the banana on the table 4- Put the banana on the table 5- Put the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e","video":"9370345036125692190.mp4"}
+{"uid":"6207229264545991593","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana 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: remove bananas from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the tissue 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- 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 banana on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e","video":"1394541748886730700.mp4"}
+{"uid":"15103189266072130733","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: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\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: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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana on the table 2- done\n\u003c/PRED\u003e","video":"6056332084849236071.mp4"}
+{"uid":"15064543282920000017","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"15362263909814122484.mp4"}
+{"uid":"11858315199001775819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1607289886597885075.mp4"}
+{"uid":"8299730882604011273","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2332128722339785343.mp4"}
+{"uid":"15048020354056455709","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chips packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13296322158924914993.mp4"}
+{"uid":"11674181723907971784","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 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: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana on the table 2- put the banana on the table 3- Put the banana on the table 4- Put the banana on the table 5- 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: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: remove bananas from the bowl 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e","video":"11584268599331278101.mp4"}
+{"uid":"14882422210760222038","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the tissue 2- Put the banana on the table 3- Put the banana on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8823134336675937924.mp4"}
+{"uid":"16443110801687153111","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":"4504496368585410117.mp4"}
+{"uid":"1568205672660451062","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- Put the banana on the table 3- done\n\u003c/PRED\u003e","video":"15551695067794891400.mp4"}
+{"uid":"16963471152374592811","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana on the table 2- Put the banana on the table 3- done\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: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: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: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: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e","video":"4616930936544562922.mp4"}
+{"uid":"13391543459280531840","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table 8- 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: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table 8- Put the banana 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 banana on the table\n\u003c/PRED\u003e","video":"9321650200178971561.mp4"}
+{"uid":"875682666274081390","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the tissue 2- Put the banana on the table 3- Put the banana on the table 4- Put the banana on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e","video":"10302603026252554199.mp4"}
+{"uid":"16829850004552540232","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":"2972141186866512024.mp4"}
+{"uid":"16436168858914303537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green 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":"170514778012799293.mp4"}
+{"uid":"7318197677967181450","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- done\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:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e","video":"3157162722839778457.mp4"}
+{"uid":"4824929813483014285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cylindrical 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":"3504668536359294258.mp4"}
+{"uid":"4849601088398768500","text":"\u003ctask:success:discrete:True\u003e\nput banana on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e","video":"7464214839887039547.mp4"}
+{"uid":"4623488510125797192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the lid 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":"3207629314404975694.mp4"}
+{"uid":"4349619938826223040","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\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:success:discrete:False\u003e\nput the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- Put the banana 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 banana on the table\n\u003c/PRED\u003e","video":"157245869675964826.mp4"}
+{"uid":"8578829312212071091","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana on the table 2- done\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:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \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","video":"2597138846155423019.mp4"}
+{"uid":"2458181991100467034","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":"18067796553281088057.mp4"}
+{"uid":"1611212760045840928","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":"9966471112523810252.mp4"}
+{"uid":"14444049898285931078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10424910918475635485.mp4"}
+{"uid":"7627769050550089310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black marker on the board stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15945703275334266362.mp4"}
+{"uid":"14248923778890061651","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl 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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: none 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: remove bananas from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table\n\u003c/PRED\u003e","video":"4194680974832635482.mp4"}
+{"uid":"17282609117100596143","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table 8- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table 8- put banana on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9615624968166243602.mp4"}
+{"uid":"11363796248448947233","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the tissue 2- Put the banana on the table 3- put the banana on the table 4- Put the banana on the table 5- Put the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the tissue\n\u003c/PRED\u003e","video":"2786139143794937749.mp4"}
+{"uid":"17843894314127787463","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: none Q: immediate next step? \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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- 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: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e","video":"13905821994837675298.mp4"}
+{"uid":"8258951116007047373","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":"14999801789613967011.mp4"}
+{"uid":"15618674105861068204","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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 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: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\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","video":"12054124460763388211.mp4"}
+{"uid":"4147463864809895207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease 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":"14787832757117605691.mp4"}
+{"uid":"8808173857126281164","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- Put the banana on the table 5- done\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: remove bananas from the bowl 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e","video":"14001284561651174355.mp4"}
+{"uid":"4933717525170050376","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the banana\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the banana\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table Q: immediate next step? \u003cPRED\u003eA: adjust the banana\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 3- Put the banana on the table 4- put the banana on the table 5- Put the banana on the table 6- Put the banana on the table 7- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the banana 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust 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:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: adjust the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust 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","video":"3261586633593398222.mp4"}
+{"uid":"4620784765005088820","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table 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: remove bananas from the bowl. last 20 steps: 1- Put the banana on the table 2- Put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana on the table 2- put the banana on the table 3- Put the banana on the table 4- Put the banana on the table 5- 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:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\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: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","video":"4019806362656006864.mp4"}
+{"uid":"1370449526110776771","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":"11284442671468058786.mp4"}