diff --git "a/json/train/data-00005-of-00160.json" "b/json/train/data-00005-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00005-of-00160.json"
@@ -0,0 +1,949 @@
+{"uid":"12788046547491509022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green marker into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3348298855052306431.mp4"}
+{"uid":"3875040009483442035","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- open the cardboard box 2- pick the paper clip box 3- drop the paper clip box into the cardboard box 4- pick the brown box 5- Drop the ethernet shield box in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box Q: immediate next step? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e","video":"9390062197579753782.mp4"}
+{"uid":"14289842897189096641","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the black object  in the white cardboard box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the black object  in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the black object  in the white cardboard box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- move the black object downwards. 18- pick the yellow box Q: immediate next step? \u003cPRED\u003eA: Drop the black object  in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- move the black object downwards. 18- pick the yellow box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black object  in the white cardboard box on the floor 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the black object  in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the black object  in the white cardboard box on the floor\n\u003c/PRED\u003e","video":"17034075748901413765.mp4"}
+{"uid":"9171471162991450875","text":"\u003ctask:success:discrete:False\u003e\ndrop the paper clip box into the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper clip box into the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box Q: immediate next step? \u003cPRED\u003eA: drop the paper clip box into the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the paper clip box into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper clip box into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper clip box into the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper clip box into the cardboard box 2- pick the brown box 3- Drop the ethernet shield box in the white cardboard box on the floor 4- pick the blue box 5- Drop the blue box in the white cardboard box\n\u003c/PRED\u003e","video":"17232247602797642260.mp4"}
+{"uid":"11400632537390140315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen stand on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17603528334337994499.mp4"}
+{"uid":"10335616813535726079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12659580042734998221.mp4"}
+{"uid":"4852501657988711248","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the brown object into the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the brown object into the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the brown object in the white cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the brown object in the white cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the brown object in the white cardboard box 2- drop the brown belt into the cardboard box 3- pick the scrub packet 4- drop the scrub packet into the cardboard box 5- pick the tape dispenser box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the brown object in the white cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown object into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown object into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown object into the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown object into the cardboard box 2- Pick up the zip lock cover from the table 3- drop the brown belt into the cardboard box 4- pick the scrub packet 5- drop the scrub packet into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the brown object in the white cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the brown object in the white cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the brown object in the white cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown object into the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7053340710470634002.mp4"}
+{"uid":"5544919644381239313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the seaweed snacks pack 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":"14946442330800401150.mp4"}
+{"uid":"18038044098753493535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16646218172078863992.mp4"}
+{"uid":"1485945490914617842","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown object in the cardboard box.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the brown object in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15179854751578422439.mp4"}
+{"uid":"5395607448573414661","text":"\u003ctask:success:discrete:True\u003e\nDrop the right white box in the white cardboard box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the right white box in the white cardboard box on the floor\n\u003c/PRED\u003e","video":"8391642923986888467.mp4"}
+{"uid":"1688613331492945197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown object in the cardboard box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13884709713910402733.mp4"}
+{"uid":"17815936523708589485","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3219715527146502121.mp4"}
+{"uid":"8926193024436762154","text":"\u003ctask:success:discrete:True\u003e\nopen the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cardboard box.\n\u003c/PRED\u003e","video":"703114906155522269.mp4"}
+{"uid":"14896791714593352236","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the brown box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the brown box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown box 2- Drop the ethernet shield box in the white cardboard box on the floor 3- pick the blue box 4- Drop the blue box in the white cardboard box 5- Pick up the brown object from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown box\n\u003c/PRED\u003e","video":"16020708843075652882.mp4"}
+{"uid":"13534671064716187119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15230941405016966240.mp4"}
+{"uid":"8282115890246790251","text":"\u003ctask:success:discrete:True\u003e\npick the yellow box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 box\n\u003c/PRED\u003e","video":"17838574294038879188.mp4"}
+{"uid":"823866593719653600","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the paper clip box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the paper clip box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7223318509554913513.mp4"}
+{"uid":"15583744735977631157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9487857445480701145.mp4"}
+{"uid":"8328325357653426711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the swedish fish packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12982701366124911426.mp4"}
+{"uid":"13497058200078272195","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go closer to the cardboard box.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo closer to the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4476531107035087994.mp4"}
+{"uid":"1829334373774601967","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the box in the cardboard box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the box in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the box in the cardboard box. 2- pick the blue box 3- Drop the blue box in the white cardboard box 4- Pick up the brown object from the table 5- drop the brown object into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the box in the cardboard box.\n\u003c/PRED\u003e","video":"6836950962116307791.mp4"}
+{"uid":"15578992265738454359","text":"\u003ctask:success:discrete:True\u003e\nDrop the black object  in the white cardboard box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- move the black object downwards. 18- pick the yellow box 19- Drop the black object  in the white cardboard box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the black object  in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- move the black object downwards. 18- pick the yellow box 19- Drop the black object  in the white cardboard box on the floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12799575254547258947.mp4"}
+{"uid":"10639886835168981342","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knives in plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5711954857723328965.mp4"}
+{"uid":"12618447730766025137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2345264724237858929.mp4"}
+{"uid":"11571005046914159321","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brown object from the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box Q: immediate next step? \u003cPRED\u003eA: pick up the brown object from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brown object from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the brown object from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brown object from the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the brown object from the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brown object from the table. 2- drop the brown object into the cardboard box 3- Pick up the zip lock cover from the table 4- drop the brown belt into the cardboard box 5- pick the scrub packet\n\u003c/PRED\u003e","video":"13878768254152794736.mp4"}
+{"uid":"5991561942370143291","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick up the tape dispenser box from the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tape dispenser box from the table. 2- move the black object downwards. 3- pick the yellow box 4- drop the black object in the cardboard box. 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tape dispenser box from the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the tape dispenser box from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tape dispenser box from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tape dispenser box from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tape dispenser box from the table.\n\u003c/PRED\u003e","video":"6428200864031443256.mp4"}
+{"uid":"7217271768321033367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop banana into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18028161623758318400.mp4"}
+{"uid":"12562536312277490042","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick up the blue box from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box Q: immediate next step? \u003cPRED\u003eA: Pick up the blue box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue box from the table 2- Drop the blue box in the white cardboard box 3- Pick up the brown object from the table 4- drop the brown object into the cardboard box 5- Pick up the zip lock cover from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue box from the table\n\u003c/PRED\u003e","video":"4537216304778397985.mp4"}
+{"uid":"3234118497996706124","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the brown box into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown box into the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown box into the cardboard box 2- pick the blue box 3- Drop the blue box in the white cardboard box 4- Pick up the brown object from the table 5- drop the brown object into the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box Q: immediate next step? \u003cPRED\u003eA: drop the brown box into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown box into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown box into the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown box into the cardboard box\n\u003c/PRED\u003e","video":"5900975846490041886.mp4"}
+{"uid":"12981572173267573394","text":"\u003ctask:success:discrete:True\u003e\ndrop the tape dispenser box into the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the tape dispenser box into the cardboard box\n\u003c/PRED\u003e","video":"7618457565654204054.mp4"}
+{"uid":"4145019177795842008","text":"\u003ctask:success:discrete:True\u003e\nDrop the zip lock cover in the white cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the zip lock cover in the white cardboard box\n\u003c/PRED\u003e","video":"16951229776101405890.mp4"}
+{"uid":"17215449280829049872","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the white box from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the white box from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the white box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the white box from the table 2- move the black object downwards. 3- pick the yellow box 4- drop the black object in the cardboard box. 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the white box from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick up the white box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the white box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13883899583708145611.mp4"}
+{"uid":"13084739946236977054","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue box in the cardboard box. 2- Pick up the brown object from the table 3- drop the brown object into the cardboard box 4- Pick up the zip lock cover from the table 5- drop the brown belt into the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue box in the cardboard box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the blue box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor Q: immediate next step? \u003cPRED\u003eA: drop the blue box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue box in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12684118029684468040.mp4"}
+{"uid":"15573799974204706398","text":"\u003ctask:success:discrete:True\u003e\nDrop the white packet in the white cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the white packet in the white cardboard box\n\u003c/PRED\u003e","video":"18349999467024185769.mp4"}
+{"uid":"17971646823034506150","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the paper clip box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the paper clip box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the paper clip box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the paper clip box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the paper clip box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the paper clip box 2- drop the paper clip box into the cardboard box 3- pick the brown box 4- Drop the ethernet shield box in the white cardboard box on the floor 5- pick the blue box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the paper clip box\n\u003c/PRED\u003e","video":"9348928284205261391.mp4"}
+{"uid":"1626624017484950127","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the tape dispenser box. 2- drop the tape dispenser box into the cardboard box 3- move the black object downwards. 4- pick the yellow box 5- drop the black object in the cardboard box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: move towards the tape dispenser box.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the tape dispenser box.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the tape dispenser box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the tape dispenser box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet Q: immediate next step? \u003cPRED\u003eA: move towards the tape dispenser box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the tape dispenser box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1108559953032976686.mp4"}
+{"uid":"6544464255338973942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1701763902681794179.mp4"}
+{"uid":"7205890355742001646","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5283774723534733895.mp4"}
+{"uid":"15015960671543932719","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table Q: immediate next step? \u003cPRED\u003eA: Drop the zip lock cover in the white cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the zip lock cover in the white cardboard box 2- drop the scrub packet into the cardboard box 3- pick the tape dispenser box 4- drop the tape dispenser box into the cardboard box 5- move the black object downwards.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the zip lock cover in the white cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the zip lock cover in the white cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the zip lock cover in the white cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the zip lock cover in the white cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the zip lock cover in the white cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"439086835910135537.mp4"}
+{"uid":"12480923757269349567","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the hint bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15985974018521243268.mp4"}
+{"uid":"10742978387641374682","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the scrubber packet from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the scrubber packet from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9323443322098019662.mp4"}
+{"uid":"15913940393643670516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolate in the paper box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8405867196986055854.mp4"}
+{"uid":"4270608053148117563","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the box in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3517161922656520857.mp4"}
+{"uid":"14131030349760070495","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow box into the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow box into the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- move the black object downwards. 18- pick the yellow box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow box into the cardboard box 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow box into the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow box into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the yellow box into the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- move the black object downwards. 18- pick the yellow box Q: immediate next step? \u003cPRED\u003eA: drop the yellow box into the cardboard box\n\u003c/PRED\u003e","video":"18007828687591595554.mp4"}
+{"uid":"416068708362061333","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11002415223785671203.mp4"}
+{"uid":"17360202516917836910","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- move the black object downwards. 18- pick the yellow box 19- drop the yellow box into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow box into the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the yellow box into the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- move the black object downwards. 18- pick the yellow box 19- drop the yellow box into the cardboard box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9343316763975983837.mp4"}
+{"uid":"14045829642539617750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"696251532798420604.mp4"}
+{"uid":"14728046088689332389","text":"\u003ctask:success:discrete:True\u003e\nmove to the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the cardboard box\n\u003c/PRED\u003e","video":"13548336523303092741.mp4"}
+{"uid":"9919278960610832023","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the blue box into the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue box into the cardboard box 2- Pick up the brown object from the table 3- drop the brown object into the cardboard box 4- Pick up the zip lock cover from the table 5- drop the brown belt into the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue box into the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue box into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue box into the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue box into the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box Q: immediate next step? \u003cPRED\u003eA: drop the blue box into the cardboard box\n\u003c/PRED\u003e","video":"17239884918966096752.mp4"}
+{"uid":"12169581721148831627","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrub the jar in the cup board with tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13769268437447197809.mp4"}
+{"uid":"2370020868377663875","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the wipe in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15734587154466364716.mp4"}
+{"uid":"12805855867897091837","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box Q: immediate next step? \u003cPRED\u003eA: drop the tape dispenser box into the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tape dispenser box into the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tape dispenser box into the cardboard box 2- pick the yellow box 3- drop the black object in the cardboard box. 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tape dispenser box into the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the tape dispenser box into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tape dispenser box into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tape dispenser box into the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15973238123842653280.mp4"}
+{"uid":"10501774728356888831","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown belt into the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the brown belt into the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown belt into the cardboard box 2- pick the scrub packet 3- drop the scrub packet into the cardboard box 4- pick the tape dispenser box 5- drop the tape dispenser box into the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown belt into the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown belt into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the brown belt into the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown belt into the cardboard box\n\u003c/PRED\u003e","video":"16517807317382964387.mp4"}
+{"uid":"5146791273784341228","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the ethernet shield box in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the ethernet shield box in the white cardboard box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1759614473614793695.mp4"}
+{"uid":"11912791599249514291","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the black object in the cardboard box.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- move the black object downwards. 18- pick the yellow box 19- drop the black object in the cardboard box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- move the black object downwards. 18- pick the yellow box 19- drop the black object in the cardboard box. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the black object in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15528496304325830467.mp4"}
+{"uid":"13114132175872502341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the sanitizer bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17667082992322367185.mp4"}
+{"uid":"5722849526479236553","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":"16250827821747588252.mp4"}
+{"uid":"3721177879125511985","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the scrub packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the scrub 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":"17662929456982750897.mp4"}
+{"uid":"1857640367076521324","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the black object downwards.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the black object downwards. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16828185106611053549.mp4"}
+{"uid":"13598274977832061009","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper clip box in the cardboard box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper clip box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper clip box in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper clip box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box Q: immediate next step? \u003cPRED\u003eA: drop the paper clip box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the paper clip box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper clip box in the cardboard box. 2- pick the brown box 3- Drop the ethernet shield box in the white cardboard box on the floor 4- pick the blue box 5- Drop the blue box in the white cardboard box\n\u003c/PRED\u003e","video":"457147291929643628.mp4"}
+{"uid":"3986469259159254487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the tissue in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9198645677063076367.mp4"}
+{"uid":"3917185948457574319","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown belt in the cardboard box.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown belt in the cardboard box. 2- pick the scrub packet 3- drop the scrub packet into the cardboard box 4- pick the tape dispenser box 5- drop the tape dispenser box into the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown belt in the cardboard box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown belt in the cardboard box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the brown belt in the cardboard box.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the brown belt in the cardboard box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown belt in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4574148737404043020.mp4"}
+{"uid":"1023011467014133503","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the yellow box to the bottom of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the yellow box to the bottom of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7272384937718079044.mp4"}
+{"uid":"780790496423687021","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7106551596475590643.mp4"}
+{"uid":"11133683815276635722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black cable in the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14122185190514590239.mp4"}
+{"uid":"3075926520005511065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2687995708986164257.mp4"}
+{"uid":"6844841418913093347","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue box 2- Drop the blue box in the white cardboard box 3- Pick up the brown object from the table 4- drop the brown object into the cardboard box 5- Pick up the zip lock cover from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box Q: immediate next step? \u003cPRED\u003eA: pick the blue box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the blue box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue box\n\u003c/PRED\u003e","video":"9989270302646873257.mp4"}
+{"uid":"383023158696269311","text":"\u003ctask:success:discrete:True\u003e\npick up the black object from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the black object from the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- pick up the black object from the table. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- pick up the black object from the table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11059204600500731948.mp4"}
+{"uid":"17169555698232635060","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red 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":"11286081093095343117.mp4"}
+{"uid":"7082262575523232767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6652179993169707168.mp4"}
+{"uid":"16137309555253889423","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown belt in the cardboard box.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the brown belt in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1684374116057347647.mp4"}
+{"uid":"12066618114898404795","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: move the yellow box to the bottom of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the yellow box to the bottom of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the yellow box to the bottom of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- move the yellow box to the bottom of the table 2- pick the yellow box 3- drop the black object in the cardboard box. 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the yellow box to the bottom of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box Q: immediate next step? \u003cPRED\u003eA: move the yellow box to the bottom of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the yellow box to the bottom of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17945988219756913525.mp4"}
+{"uid":"2452691303844039387","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- Pick up the black object from the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- Pick up the black object from the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the black object from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the black object from the table\n\u003c/PRED\u003e","video":"10635028752053527210.mp4"}
+{"uid":"6823060655345237526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16086949422362729467.mp4"}
+{"uid":"9534568517096692241","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11720108990514940967.mp4"}
+{"uid":"758032254826203873","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: move to the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12142954871175488530.mp4"}
+{"uid":"620701887553548254","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the black object from the table. 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the black object from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the black object from the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the black object from the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the black object from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the black object from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick up the black object from the table.\n\u003c/PRED\u003e","video":"1010701849405810667.mp4"}
+{"uid":"752243037348239919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the paper in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3943484046409358402.mp4"}
+{"uid":"7169967787061755515","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the brown belt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the brown belt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown belt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown belt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brown belt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown belt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown belt 2- drop the brown belt into the cardboard box 3- pick the scrub packet 4- drop the scrub packet into the cardboard box 5- pick the tape dispenser box\n\u003c/PRED\u003e","video":"8567818791869039578.mp4"}
+{"uid":"8569692443695391558","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the white box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the white box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5394200091963969928.mp4"}
+{"uid":"17458058224690979333","text":"\u003ctask:success:discrete:True\u003e\nDrop the blue box in the white cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the blue box in the white cardboard box\n\u003c/PRED\u003e","video":"11381606227230677423.mp4"}
+{"uid":"9327048634213653434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13362340437333048177.mp4"}
+{"uid":"1575165346078877725","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the ethernet shield box in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the ethernet shield box in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the ethernet shield box in the white cardboard box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box Q: immediate next step? \u003cPRED\u003eA: Drop the ethernet shield box in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the ethernet shield box in the white cardboard box on the floor 2- Drop the blue box in the white cardboard box 3- Pick up the brown object from the table 4- drop the brown object into the cardboard box 5- Pick up the zip lock cover from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the ethernet shield box in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the ethernet shield box in the white cardboard box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14682592071839171525.mp4"}
+{"uid":"11474339152629684900","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black object in the cardboard box.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- move the black object downwards. 18- pick the yellow box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black object in the cardboard box. 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black object in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black object in the cardboard box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black object in the cardboard box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the black object in the cardboard box.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box 17- move the black object downwards. 18- pick the yellow box Q: immediate next step? \u003cPRED\u003eA: drop the black object in the cardboard box.\n\u003c/PRED\u003e","video":"18351287916029743715.mp4"}
+{"uid":"2921717758332797600","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1244768265089630721.mp4"}
+{"uid":"2827301495908115055","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the brown object in the white cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the brown object in the white cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4604558874219124600.mp4"}
+{"uid":"15118308936130704323","text":"\u003ctask:success:discrete:True\u003e\ndrop the brown box into the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown box into the cardboard box\n\u003c/PRED\u003e","video":"8277865758318088631.mp4"}
+{"uid":"1720989904485476595","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box Q: immediate next step? \u003cPRED\u003eA: drop the tape dispenser box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tape dispenser box in the cardboard box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tape dispenser box in the cardboard box. 2- pick the yellow box 3- drop the black object in the cardboard box. 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tape dispenser box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the tape dispenser box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tape dispenser box in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tape dispenser box in the cardboard box.\n\u003c/PRED\u003e","video":"10633955363822101299.mp4"}
+{"uid":"6475595514886432185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11607777408178934735.mp4"}
+{"uid":"3211287457628793653","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut scoop of popcorn in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10524790241464153953.mp4"}
+{"uid":"17815275776485356606","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the tape dispenser box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the tape dispenser box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the tape dispenser box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the tape dispenser box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the tape dispenser box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the tape dispenser box 2- drop the tape dispenser box into the cardboard box 3- move the black object downwards. 4- pick the yellow box 5- drop the black object in the cardboard box.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the tape dispenser box\n\u003c/PRED\u003e","video":"4254839625384260272.mp4"}
+{"uid":"15657299513581206958","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the ethernet shield box from the table 2- pick the blue box 3- Drop the blue box in the white cardboard box 4- Pick up the brown object from the table 5- drop the brown object into the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick up the ethernet shield box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the ethernet shield box from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the ethernet shield box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the ethernet shield box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the ethernet shield box from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the ethernet shield box from the table\n\u003c/PRED\u003e","video":"16902517869508394839.mp4"}
+{"uid":"1451438368990694739","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the right white box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the right white box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16892349331478779069.mp4"}
+{"uid":"6636469628578587531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the wet wipes packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17806704585345299989.mp4"}
+{"uid":"13544113495664165140","text":"\u003ctask:success:discrete:False\u003e\npick the yellow box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow box 2- drop the black object in the cardboard box. 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the yellow box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the yellow box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow box\n\u003c/PRED\u003e","video":"9534792705314856451.mp4"}
+{"uid":"4606227579507639734","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the white packet from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the white packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the white packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the white packet from the table 2- pick the tape dispenser box 3- drop the tape dispenser box into the cardboard box 4- move the black object downwards. 5- pick the yellow box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick up the white packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the white packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the white packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13748204067807517874.mp4"}
+{"uid":"4734700875887579577","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the white cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the white cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1151284395763866910.mp4"}
+{"uid":"12547282525725444663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nfill the bowl with cereals Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16434911142870220154.mp4"}
+{"uid":"10209059730500649819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chickpea in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15467469074302105492.mp4"}
+{"uid":"6388066343246436148","text":"\u003ctask:success:discrete:True\u003e\ndrop the scrubber packet in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the scrubber packet in the cardboard box.\n\u003c/PRED\u003e","video":"16392391795666711288.mp4"}
+{"uid":"13153669464353771428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2054567973071580659.mp4"}
+{"uid":"10642957069236758079","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the white cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Open the white cardboard box 2- drop the paper clip box into the cardboard box 3- pick the brown box 4- Drop the ethernet shield box in the white cardboard box on the floor 5- pick the blue box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Open the white cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the white cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the white cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the white cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box Q: immediate next step? \u003cPRED\u003eA: Open the white cardboard box\n\u003c/PRED\u003e","video":"9865825290386816366.mp4"}
+{"uid":"386902162783523883","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the scrub packet into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the scrub packet into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the scrub packet into the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the scrub packet into the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the scrub packet into the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet Q: immediate next step? \u003cPRED\u003eA: drop the scrub packet into the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet Q: next 5 steps? \u003cPRED\u003eA: 1- drop the scrub packet into the cardboard box 2- pick the tape dispenser box 3- drop the tape dispenser box into the cardboard box 4- move the black object downwards. 5- pick the yellow box\n\u003c/PRED\u003e","video":"10143375441569606748.mp4"}
+{"uid":"3914409248739548020","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the black object downwards.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: move the black object downwards.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the black object downwards.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box Q: next 5 steps? \u003cPRED\u003eA: 1- move the black object downwards. 2- drop the black object in the cardboard box. 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the black object downwards. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the black object downwards. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box Q: immediate next step? \u003cPRED\u003eA: move the black object downwards.\n\u003c/PRED\u003e","video":"1684703372548803414.mp4"}
+{"uid":"8201261484686448881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2174606766264570219.mp4"}
+{"uid":"9823591778653540082","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the paper clip box into the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the paper clip box into the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14236876687918663930.mp4"}
+{"uid":"14984507577771286450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4294152376293494893.mp4"}
+{"uid":"15364364372305995033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14780865334599562707.mp4"}
+{"uid":"5182479269757967534","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the scrubber packet from the table. 2- drop the scrub packet into the cardboard box 3- pick the tape dispenser box 4- drop the tape dispenser box into the cardboard box 5- move the black object downwards.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the scrubber packet from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the scrubber packet from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the scrubber packet from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the scrubber 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the scrubber packet from the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table Q: immediate next step? \u003cPRED\u003eA: pick up the scrubber packet from the table.\n\u003c/PRED\u003e","video":"4553033626644496673.mp4"}
+{"uid":"16468007786525284367","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown object into the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the brown object into the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1382495531450000871.mp4"}
+{"uid":"1916252437287428477","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the white packet in the white cardboard box 2- pick the tape dispenser box 3- drop the tape dispenser box into the cardboard box 4- move the black object downwards. 5- pick the yellow box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet Q: immediate next step? \u003cPRED\u003eA: Drop the white packet in the white cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the white packet in the white cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the white packet in the white cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the white packet in the white cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the white packet in the white cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the white packet in the white cardboard box\n\u003c/PRED\u003e","video":"17258886242834907622.mp4"}
+{"uid":"1866711434700272058","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go closer to the cardboard box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo closer to the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go closer to the cardboard box.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: go closer to the cardboard box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: go closer to the cardboard box.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- go closer to the cardboard box. 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo closer to the cardboard box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16042529387704760880.mp4"}
+{"uid":"17029188108055287774","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box Q: immediate next step? \u003cPRED\u003eA: pick the brown object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown object 2- drop the brown object into the cardboard box 3- Pick up the zip lock cover from the table 4- drop the brown belt into the cardboard box 5- pick the scrub packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the brown object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brown object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"427685606755846200.mp4"}
+{"uid":"13841401720668112512","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the paper clip box from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the paper clip box from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the paper clip box from the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the paper clip box from the table. 2- pick the brown box 3- Drop the ethernet shield box in the white cardboard box on the floor 4- pick the blue box 5- Drop the blue box in the white cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the paper clip box from the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick up the paper clip box from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the paper clip box from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14798036556113282088.mp4"}
+{"uid":"11359690417735693097","text":"\u003ctask:success:discrete:False\u003e\nPick up the right white box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the right white box from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick up the right white box from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right white box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the right white box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the right white box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right white box from the table 2- pick the brown box 3- Drop the ethernet shield box in the white cardboard box on the floor 4- pick the blue box 5- Drop the blue box in the white cardboard box\n\u003c/PRED\u003e","video":"15230573684844740550.mp4"}
+{"uid":"16540610237958056609","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick up the zip lock cover from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the zip lock cover from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the zip lock cover from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the zip lock cover from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the zip lock cover from the table 2- pick the scrub packet 3- drop the scrub packet into the cardboard box 4- pick the tape dispenser box 5- drop the tape dispenser box into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the zip lock cover from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the zip lock cover from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11531523440183595863.mp4"}
+{"uid":"16265906967092554399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16422829275058734602.mp4"}
+{"uid":"1639367320364534945","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the brown object in the cardboard box.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown object in the cardboard box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown object in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown object in the cardboard box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the brown object in the cardboard box.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown object in the cardboard box.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown object in the cardboard box. 2- Pick up the zip lock cover from the table 3- drop the brown belt into the cardboard box 4- pick the scrub packet 5- drop the scrub packet into the cardboard box\n\u003c/PRED\u003e","video":"3931757040748907475.mp4"}
+{"uid":"10047238191430695017","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":"4179041252272956522.mp4"}
+{"uid":"8629919683621261911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown 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":"15002898205207009390.mp4"}
+{"uid":"10188454783124763249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16482158438340347637.mp4"}
+{"uid":"13487662984414379142","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the tape dispenser box.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the tape dispenser box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2021658236100814560.mp4"}
+{"uid":"6038473912927370794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3637971276204957078.mp4"}
+{"uid":"18156856423175079315","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the right white box in the white cardboard box on the floor 2- Drop the ethernet shield box in the white cardboard box on the floor 3- pick the blue box 4- Drop the blue box in the white cardboard box 5- Pick up the brown object from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the right white box in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the right white box in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the right white box in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box Q: immediate next step? \u003cPRED\u003eA: Drop the right white box in the white cardboard box on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the right white box in the white cardboard box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the right white box in the white cardboard box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4759522515669042820.mp4"}
+{"uid":"13758552011230225211","text":"\u003ctask:success:discrete:True\u003e\nPick up the ethernet shield box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the ethernet shield box from the table\n\u003c/PRED\u003e","video":"2745962053882754962.mp4"}
+{"uid":"14787056223395406664","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chip bag in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4571921043874544846.mp4"}
+{"uid":"2852081536037037794","text":"\u003ctask:success:discrete:True\u003e\npick the tape dispenser box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 tape dispenser box\n\u003c/PRED\u003e","video":"1152027830805705205.mp4"}
+{"uid":"846464818835613170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6190388509647111232.mp4"}
+{"uid":"14988079218885833585","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the scrubber packet in the cardboard box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the scrubber packet in the cardboard box. 2- pick the tape dispenser box 3- drop the tape dispenser box into the cardboard box 4- move the black object downwards. 5- pick the yellow box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the scrubber packet in the cardboard box.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the scrubber packet in the cardboard box.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the scrubber packet in the cardboard box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the scrubber packet in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the scrubber packet in the cardboard box.\n\u003c/PRED\u003e","video":"16929139740516596516.mp4"}
+{"uid":"13176052606862552288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4906667068426559168.mp4"}
+{"uid":"4056305662311275721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6994631199939771864.mp4"}
+{"uid":"13170416134527581955","text":"\u003ctask:success:discrete:True\u003e\nDrop the box in the white cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the box in the white cardboard box\n\u003c/PRED\u003e","video":"11654479032746199266.mp4"}
+{"uid":"1887850116330603670","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brown belt from the table. 2- drop the brown belt into the cardboard box 3- pick the scrub packet 4- drop the scrub packet into the cardboard box 5- pick the tape dispenser box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the brown belt from the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table Q: immediate next step? \u003cPRED\u003eA: pick up the brown belt from the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brown belt from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the brown belt from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brown belt from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brown belt from the table.\n\u003c/PRED\u003e","video":"2582279091143710387.mp4"}
+{"uid":"10392647207713816041","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the blue box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the blue box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15426289562515425520.mp4"}
+{"uid":"1782141970205340893","text":"\u003ctask:success:discrete:False\u003e\nopen the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard box.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- open the cardboard box. 2- drop the paper clip box into the cardboard box 3- pick the brown box 4- Drop the ethernet shield box in the white cardboard box on the floor 5- pick the blue box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cardboard box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cardboard box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the cardboard box.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box Q: immediate next step? \u003cPRED\u003eA: open the cardboard box.\n\u003c/PRED\u003e","video":"7008174343838596622.mp4"}
+{"uid":"13789669514138796524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18184678194355726275.mp4"}
+{"uid":"8695949131492853819","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the tape dispenser box in the cardboard box.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the tape dispenser box in the cardboard box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1016545324571612742.mp4"}
+{"uid":"17512040882936058744","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14156123382669249457.mp4"}
+{"uid":"12035208226438834920","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bottom box from the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the bottom box from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the bottom box from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottom box from the table. 2- Drop the ethernet shield box in the white cardboard box on the floor 3- pick the blue box 4- Drop the blue box in the white cardboard box 5- Pick up the brown object from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box Q: immediate next step? \u003cPRED\u003eA: pick up the bottom box from the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bottom box from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bottom box from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15387379787430092133.mp4"}
+{"uid":"6385802650405327461","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the blue box from the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the blue box from the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box Q: immediate next step? \u003cPRED\u003eA: pick up the blue box from the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the blue box from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the blue box from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the blue box from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the blue box from the table. 2- Drop the blue box in the white cardboard box 3- Pick up the brown object from the table 4- drop the brown object into the cardboard box 5- Pick up the zip lock cover from the table\n\u003c/PRED\u003e","video":"14268760951235776318.mp4"}
+{"uid":"159019457058861113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput lid of the jar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11867073662954631596.mp4"}
+{"uid":"1700075838079244419","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":"16208712022996853509.mp4"}
+{"uid":"7311652704457296518","text":"\u003ctask:success:discrete:True\u003e\npick up the bottom box from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the bottom box from the table.\n\u003c/PRED\u003e","video":"18413244309805791046.mp4"}
+{"uid":"8739167694190202006","text":"\u003ctask:success:discrete:True\u003e\npick up the blue box from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the blue box from the table.\n\u003c/PRED\u003e","video":"15060739065580072238.mp4"}
+{"uid":"18249525117723547659","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brown object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the brown object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9578340769555238882.mp4"}
+{"uid":"7056489700645259193","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the scrub packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the scrub packet 2- drop the scrub packet into the cardboard box 3- pick the tape dispenser box 4- drop the tape dispenser box into the cardboard box 5- move the black object downwards.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the scrub packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the scrub packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the scrub packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the scrub packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the scrub packet\n\u003c/PRED\u003e","video":"15344139378163513069.mp4"}
+{"uid":"3123334178269540436","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box Q: immediate next step? \u003cPRED\u003eA: Drop the blue box in the white cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the blue box in the white cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the blue box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the blue box in the white cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue box in the white cardboard box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue box from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue box in the white cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue box in the white cardboard box 2- Pick up the brown object from the table 3- drop the brown object into the cardboard box 4- Pick up the zip lock cover from the table 5- drop the brown belt into the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue box in the white cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8759567421686724737.mp4"}
+{"uid":"7508817945491540697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7358284892444389677.mp4"}
+{"uid":"16222041046774716403","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the black object from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick up the black object from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black object from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black object from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black object from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black object from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box 16- drop the tape dispenser box into the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black object from the table 2- done\n\u003c/PRED\u003e","video":"16119325260387511320.mp4"}
+{"uid":"3446022441785559358","text":"\u003ctask:success:discrete:False\u003e\nDrop the box in the white cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the box in the white cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the box in the white cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the box in the white cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the box in the white cardboard box 2- pick the yellow box 3- drop the black object in the cardboard box. 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box 9- Pick up the brown object from the table 10- drop the brown object into the cardboard box 11- Pick up the zip lock cover from the table 12- drop the brown belt into the cardboard box 13- pick the scrub packet 14- drop the scrub packet into the cardboard box 15- pick the tape dispenser box Q: immediate next step? \u003cPRED\u003eA: Drop the box in the white cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the box in the white cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3174835212357663339.mp4"}
+{"uid":"7555547892158712309","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the paper clip box from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the paper clip box from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3767622026467204593.mp4"}
+{"uid":"10730029812909088113","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the brown object from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick up the brown object from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the brown object from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the brown object from the table 2- Pick up the zip lock cover from the table 3- drop the brown belt into the cardboard box 4- pick the scrub packet 5- drop the scrub packet into the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the brown object from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the brown object from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- move to the cardboard box 2- open the cardboard box 3- pick the paper clip box 4- drop the paper clip box into the cardboard box 5- pick the brown box 6- Drop the ethernet shield box in the white cardboard box on the floor 7- pick the blue box 8- Drop the blue box in the white cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the brown object from the table\n\u003c/PRED\u003e","video":"11309920390826746781.mp4"}
+{"uid":"6330535133078935926","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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray 4- Put yellow marker in a tray 5- put blue pen in tray 6- Put seond blue pen in a tray 7- Put 3 blue pen in tray 8- Put blue marker in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- put tray in a drawer 2- Close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tray in a 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 tray in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tray in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tray in a 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 fill the tray with hilighters and pens Q: immediate next step? \u003cPRED\u003eA: put tray in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray 4- Put yellow marker in a tray 5- put blue pen in tray 6- Put seond blue pen in a tray 7- Put 3 blue pen in tray 8- Put blue marker in a tray Q: immediate next step? \u003cPRED\u003eA: put tray in a drawer\n\u003c/PRED\u003e","video":"11286399446238803238.mp4"}
+{"uid":"556940609638082803","text":"\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray 4- Put yellow marker in a tray 5- put blue pen in tray 6- Put seond blue pen in a tray 7- Put 3 blue pen in tray 8- Put blue marker in a tray 9- put tray in a drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray 4- Put yellow marker in a tray 5- put blue pen in tray 6- Put seond blue pen in a tray 7- Put 3 blue pen in tray 8- Put blue marker in a tray 9- put tray in a drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"3550279832119200686.mp4"}
+{"uid":"7626822685039757748","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Put the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15817271201158844611.mp4"}
+{"uid":"8236027064811756754","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into bowl 2- drop candy into bowl 3- drop candy into bowl 4- pull the tissue paper 5- place tissue paper on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e","video":"1485822325491133221.mp4"}
+{"uid":"12893468510388301708","text":"\u003ctask:success:discrete:False\u003e\nput blue pen in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens Q: immediate next step? \u003cPRED\u003eA: put blue pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray 4- Put yellow marker in a tray Q: immediate next step? \u003cPRED\u003eA: put blue pen in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray 4- Put yellow marker in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in tray 2- Put seond blue pen in a tray 3- Put 3 blue pen in tray 4- Put blue marker in a tray 5- put tray in a drawer\n\u003c/PRED\u003e","video":"17189256629514030981.mp4"}
+{"uid":"4144670082441163013","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl 9- pull the tissue paper 10- place tissue paper on table Q: immediate next step? \u003cPRED\u003eA: Put the brown bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown bowl on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown bowl on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl 9- pull the tissue paper 10- place tissue paper on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown bowl on the tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Put the brown bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown bowl on the tissue paper\n\u003c/PRED\u003e","video":"18363208505650853283.mp4"}
+{"uid":"8556201098160542221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop orange candy into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2340350995043112531.mp4"}
+{"uid":"11991429203923531366","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11803879175918843332.mp4"}
+{"uid":"11230530735672626120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5579517976160314174.mp4"}
+{"uid":"14703173654889307047","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14430856637752775290.mp4"}
+{"uid":"5458890933244498982","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy inside the brown bowl 2- drop candy into bowl 3- pull the tissue paper 4- place tissue paper on table 5- place bowl on tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy inside the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13524950100915287737.mp4"}
+{"uid":"6916333094773046574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bags in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14325896948947440789.mp4"}
+{"uid":"13858096973576803290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper clips in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12798574990946807880.mp4"}
+{"uid":"15421557828851640196","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange inside the white bowl\n\u003c/PRED\u003e","video":"13377069644402005325.mp4"}
+{"uid":"5025071798163069630","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop banana into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop banana into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15972907267590716280.mp4"}
+{"uid":"6867212646854175627","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPun a chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Pun a chocolate in the brown bowl 2- pull the tissue paper 3- place tissue paper on table 4- place bowl on tissue paper 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e","video":"13257525610113907967.mp4"}
+{"uid":"73346073688595483","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tissue paper on the table 2- place bowl on tissue paper 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9354953647054468072.mp4"}
+{"uid":"10695643159375322733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace  blue cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6841799554644273515.mp4"}
+{"uid":"2485851250351301039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5925608647522393334.mp4"}
+{"uid":"5026814463540292544","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into bowl 2- drop candy into bowl 3- pull the tissue paper 4- place tissue paper on table 5- place bowl on tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e","video":"8506234617966054725.mp4"}
+{"uid":"16505535110624082044","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into bowl 2- pull the tissue paper 3- place tissue paper on table 4- place bowl on tissue paper 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6818935926416846445.mp4"}
+{"uid":"2369323600208503317","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the bowl 2- Put the orange in the bowl 3- Put the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e","video":"17759289234538557641.mp4"}
+{"uid":"363910471672498396","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into bowl 2- drop banana into bowl 3- drop candy into bowl 4- drop candy into bowl 5- drop candy into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e","video":"11752936867087516168.mp4"}
+{"uid":"14008347767973270300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8334258528678550020.mp4"}
+{"uid":"9186692562126905685","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the banana inside the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana inside the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana inside the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana inside the white bowl 2- drop candy into bowl 3- drop candy into bowl 4- drop candy into bowl 5- drop candy into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana inside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana inside the white bowl\n\u003c/PRED\u003e","video":"18374263899634157346.mp4"}
+{"uid":"7948607479052274291","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12441827423035249973.mp4"}
+{"uid":"13112541673064415638","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e","video":"17522745198583182198.mp4"}
+{"uid":"9590783388547688012","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the orange in the bowl 3- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the orange in the bowl 3- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5832122753487846710.mp4"}
+{"uid":"8735045376142495251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white duck in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17521152611855005656.mp4"}
+{"uid":"5650616602384013110","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17703959621021132124.mp4"}
+{"uid":"16994650901784858676","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10057362220551887243.mp4"}
+{"uid":"16539642210638298926","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange inside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange inside the white bowl 2- drop banana into bowl 3- drop candy into bowl 4- drop candy into bowl 5- drop candy into bowl\n\u003c/PRED\u003e","video":"6762902268293002637.mp4"}
+{"uid":"9574687233295566405","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put yellow marker in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut yellow marker in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put yellow marker in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray Q: immediate next step? \u003cPRED\u003eA: Put yellow marker in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put yellow marker in a tray 2- put blue pen in tray 3- Put seond blue pen in a tray 4- Put 3 blue pen in tray 5- Put blue marker in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut yellow marker in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens Q: immediate next step? \u003cPRED\u003eA: Put yellow marker in a tray\n\u003c/PRED\u003e","video":"16743469589261162736.mp4"}
+{"uid":"17683893129309782342","text":"\u003ctask:success:discrete:False\u003e\nPut pink marker in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pink marker in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pink marker in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. Q: next 5 steps? \u003cPRED\u003eA: 1- Put pink marker in a tray 2- Put green marker in a tray 3- Put yellow marker in a tray 4- put blue pen in tray 5- Put seond blue pen in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens Q: immediate next step? \u003cPRED\u003eA: Put pink marker in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pink marker in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. Q: immediate next step? \u003cPRED\u003eA: Put pink marker in a tray\n\u003c/PRED\u003e","video":"3620782637806277186.mp4"}
+{"uid":"14001690647864125814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15959885665062316712.mp4"}
+{"uid":"5460651254948965670","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16563021989199040433.mp4"}
+{"uid":"10220320333725776565","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an orange in the bowl 2- drop banana into bowl 3- drop candy into bowl 4- drop candy into bowl 5- drop candy into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e","video":"10176499596310125363.mp4"}
+{"uid":"2478229372729013178","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put seond blue pen in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens Q: immediate next step? \u003cPRED\u003eA: Put seond blue pen in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut seond blue pen in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray 4- Put yellow marker in a tray 5- put blue pen in tray Q: immediate next step? \u003cPRED\u003eA: Put seond blue pen in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut seond blue pen in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray 4- Put yellow marker in a tray 5- put blue pen in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put seond blue pen in a tray 2- Put 3 blue pen in tray 3- Put blue marker in a tray 4- put tray in a 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 seond blue pen in a tray\n\u003c/PRED\u003e","video":"15437697649690394583.mp4"}
+{"uid":"8284261411366488528","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange inside the white bowl 2- drop banana into bowl 3- drop candy into bowl 4- drop candy into bowl 5- drop candy into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange inside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"962125350391553747.mp4"}
+{"uid":"10386545168944937852","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put blue marker in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens Q: immediate next step? \u003cPRED\u003eA: Put blue marker in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray 4- Put yellow marker in a tray 5- put blue pen in tray 6- Put seond blue pen in a tray 7- Put 3 blue pen in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put blue marker in a tray 2- put tray in a drawer 3- Close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut blue marker in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put blue marker in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut blue marker in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray 4- Put yellow marker in a tray 5- put blue pen in tray 6- Put seond blue pen in a tray 7- Put 3 blue pen in tray Q: immediate next step? \u003cPRED\u003eA: Put blue marker in a tray\n\u003c/PRED\u003e","video":"12198305726671518527.mp4"}
+{"uid":"3787707407180551729","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Pun a chocolate in the brown bowl 2- drop candy into bowl 3- drop candy into bowl 4- pull the tissue paper 5- place tissue paper on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPun a chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e","video":"12891087766547221468.mp4"}
+{"uid":"13152845791756381695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHold the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4641744283249694608.mp4"}
+{"uid":"15755121629513876931","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":"10779671940537719929.mp4"}
+{"uid":"12777012634562837431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1964812679613661806.mp4"}
+{"uid":"12298705160130520646","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace bath toys in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11911585258513104166.mp4"}
+{"uid":"9976553101338773533","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17233663562091269161.mp4"}
+{"uid":"12539203230612719765","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9247779668430149733.mp4"}
+{"uid":"15155555324672135337","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop chocolate into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8202992503795254667.mp4"}
+{"uid":"17278877457747223782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the second 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":"16831905787925263209.mp4"}
+{"uid":"8217130043669074391","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl 9- pull the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- place tissue paper on table 2- place bowl on tissue paper 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl 9- pull the tissue paper Q: immediate next step? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace tissue paper on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place tissue paper on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace tissue paper on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4016187454858387857.mp4"}
+{"uid":"12811893234331427402","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl 9- pull the tissue paper 10- place tissue paper on table Q: immediate next step? \u003cPRED\u003eA: Place the brown bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the brown bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brown bowl on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl 9- pull the tissue paper 10- place tissue paper on table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown bowl on the tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown bowl on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17656562226814065613.mp4"}
+{"uid":"15340660554420812651","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"15418410763792739028.mp4"}
+{"uid":"11413511408240557902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"9589881708951821888.mp4"}
+{"uid":"3887115649073980152","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy inside the brown bowl 2- drop candy into bowl 3- drop candy into bowl 4- pull the tissue paper 5- place tissue paper on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy inside the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7254917348441846644.mp4"}
+{"uid":"18393720208213033257","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e","video":"8536139949950845381.mp4"}
+{"uid":"6257690064906313104","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into bowl 2- drop candy into bowl 3- drop candy into bowl 4- drop candy into bowl 5- pull the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e","video":"15027067220986232365.mp4"}
+{"uid":"3700217348272048064","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy inside the brown bowl 2- drop candy into bowl 3- drop candy into bowl 4- pull the tissue paper 5- place tissue paper on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy inside the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1008640180957143412.mp4"}
+{"uid":"7890689375065632806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2330832666636022404.mp4"}
+{"uid":"13103809924618615671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the laptop cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15472541303586426383.mp4"}
+{"uid":"17985571041786663639","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put a banana in the bowl 2- drop candy into bowl 3- drop candy into bowl 4- drop candy into bowl 5- drop candy into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e","video":"1515521772134443504.mp4"}
+{"uid":"11026839084928559822","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens Q: immediate next step? \u003cPRED\u003eA: Put green marker in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut green marker in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut green marker in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put green marker in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray Q: immediate next step? \u003cPRED\u003eA: Put green marker in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put green marker in a tray 2- Put yellow marker in a tray 3- put blue pen in tray 4- Put seond blue pen in a tray 5- Put 3 blue pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put green marker in a tray\n\u003c/PRED\u003e","video":"13067141086871912763.mp4"}
+{"uid":"6972061775338436831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15661975803932427784.mp4"}
+{"uid":"9416641089945167922","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl Q: immediate next step? \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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue paper on the table 2- place bowl on tissue paper 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Put 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","video":"1187786269389793341.mp4"}
+{"uid":"15505101617901865535","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut an orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16755582414943611922.mp4"}
+{"uid":"14809354366862238229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nExit the hall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1462872696511084529.mp4"}
+{"uid":"14920434910804687302","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":"11665852279066684542.mp4"}
+{"uid":"10349049464621340682","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5651451211014747015.mp4"}
+{"uid":"1579753568286022853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange candy packet inside the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1148711835420885292.mp4"}
+{"uid":"2684367393473898836","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the rod Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5121835319391823975.mp4"}
+{"uid":"5994527994605888421","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop banana into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop banana into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop banana into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop banana into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop banana into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop banana into bowl 2- drop candy into bowl 3- drop candy into bowl 4- drop candy into bowl 5- drop candy into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: drop banana into bowl\n\u003c/PRED\u003e","video":"2585651186742332900.mp4"}
+{"uid":"12371244022871776281","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 7 pista in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18050147992238278691.mp4"}
+{"uid":"4517497825046707612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4962995893029537006.mp4"}
+{"uid":"13853895947282249786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the jelly in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9092067335386164299.mp4"}
+{"uid":"8694154094771502341","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in bowl\n\u003c/PRED\u003e","video":"3346236363731122271.mp4"}
+{"uid":"10057684941106232507","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput marker in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11761093462544138631.mp4"}
+{"uid":"13067107216834216200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the empty compartment Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4711059800119447181.mp4"}
+{"uid":"10157484884189456992","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 3 blue pen in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray 4- Put yellow marker in a tray 5- put blue pen in tray 6- Put seond blue pen in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put 3 blue pen in tray 2- Put blue marker in a tray 3- put tray in a drawer 4- Close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put 3 blue pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put 3 blue pen in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray 4- Put yellow marker in a tray 5- put blue pen in tray 6- Put seond blue pen in a tray Q: immediate next step? \u003cPRED\u003eA: Put 3 blue pen in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 3 blue pen in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens Q: immediate next step? \u003cPRED\u003eA: Put 3 blue pen in tray\n\u003c/PRED\u003e","video":"9297934337718524863.mp4"}
+{"uid":"432768789676380275","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange-white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17141323150841239267.mp4"}
+{"uid":"14995683714342081106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5508054459114156751.mp4"}
+{"uid":"6002083354801728791","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in bowl 2- Put the orange in the bowl 3- Put the orange in the bowl 4- done\n\u003c/PRED\u003e","video":"213019640376565843.mp4"}
+{"uid":"12483730994456905951","text":"\u003ctask:success:discrete:False\u003e\nOpen the drawer. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens Q: immediate next step? \u003cPRED\u003eA: Open the drawer.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you fill the tray with hilighters and pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer. 2- Put pink marker in a tray 3- Put green marker in a tray 4- Put yellow marker in a tray 5- put blue pen in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer.\n\u003c/PRED\u003e","video":"10946264909454836868.mp4"}
+{"uid":"13158623565711848052","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in bowl 2- Put the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13470627037203489925.mp4"}
+{"uid":"4742779933573190440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"5215202639164588022.mp4"}
+{"uid":"14324218708014780944","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":"14847989354757902485.mp4"}
+{"uid":"16200736439873143780","text":"\u003ctask:success:discrete:True\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"8128244649777902126.mp4"}
+{"uid":"16331199712102357314","text":"\u003ctask:success:discrete:False\u003e\npull the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: pull the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pull the tissue paper 2- place tissue paper on table 3- place bowl on tissue paper 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: pull the tissue paper\n\u003c/PRED\u003e","video":"2154170640875780780.mp4"}
+{"uid":"6903599678274227941","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy inside the brown bowl 2- drop candy into bowl 3- drop candy into bowl 4- drop candy into bowl 5- drop candy into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy inside the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy inside the brown bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"445298982254816194.mp4"}
+{"uid":"16815586009417946399","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPun a chocolate in the brown bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPun a chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl Q: immediate next step? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Pun a chocolate in the brown bowl 2- drop candy into bowl 3- drop candy into bowl 4- drop candy into bowl 5- drop candy into bowl\n\u003c/PRED\u003e","video":"14348078545356820475.mp4"}
+{"uid":"17887055119539798258","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6754681749974729946.mp4"}
+{"uid":"7763522777697059904","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPun a chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Pun a chocolate in the brown bowl 2- drop candy into bowl 3- drop candy into bowl 4- drop candy into bowl 5- pull the tissue paper\n\u003c/PRED\u003e","video":"7219534456033485320.mp4"}
+{"uid":"9743705045302158052","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":"1061067226050074636.mp4"}
+{"uid":"17396961389775263127","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":"15936438121765652393.mp4"}
+{"uid":"13021580523026350256","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace 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":"11879136878114023288.mp4"}
+{"uid":"2478740654096474698","text":"\u003ctask:success:discrete:True\u003e\nPun a chocolate in the brown bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e","video":"4238404698226807876.mp4"}
+{"uid":"13776701703761463488","text":"\u003ctask:success:discrete:True\u003e\nPlace the banana inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the banana inside the white bowl\n\u003c/PRED\u003e","video":"5301329107930652894.mp4"}
+{"uid":"3025583138720575913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2721596786555252258.mp4"}
+{"uid":"9018351218311832378","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl Q: immediate next step? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into bowl 2- drop candy into bowl 3- drop candy into bowl 4- drop candy into bowl 5- drop candy into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into bowl\n\u003c/PRED\u003e","video":"15583632931989870151.mp4"}
+{"uid":"2136099054897271933","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl\n\u003c/PRED\u003e","video":"6951778492905960791.mp4"}
+{"uid":"15326806473840072741","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPun a chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Pun a chocolate in the brown bowl 2- drop candy into bowl 3- pull the tissue paper 4- place tissue paper on table 5- place bowl on tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pun a chocolate in the brown bowl\n\u003c/PRED\u003e","video":"14552986461940000146.mp4"}
+{"uid":"12904518217197881813","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4632728792029474590.mp4"}
+{"uid":"2462316930648395132","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2152849903959046261.mp4"}
+{"uid":"6907347239551005216","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15012879608242035646.mp4"}
+{"uid":"5062338074504806131","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange inside the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the orange inside the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1797123062587448892.mp4"}
+{"uid":"11836177135610968620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up a screen cleaning wipe sachet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2583384970172399185.mp4"}
+{"uid":"996324202295156476","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy inside the brown bowl 2- pull the tissue paper 3- place tissue paper on table 4- place bowl on tissue paper 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl Q: immediate next step? \u003cPRED\u003eA: Place the candy inside the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy inside the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11737678789469309947.mp4"}
+{"uid":"8449028889905111576","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place bowl on tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place bowl on tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace bowl on tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl 9- pull the tissue paper 10- place tissue paper on table Q: next 5 steps? \u003cPRED\u003eA: 1- place bowl on tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop orange into bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl 6- drop candy into bowl 7- drop candy into bowl 8- drop candy into bowl 9- pull the tissue paper 10- place tissue paper on table Q: immediate next step? \u003cPRED\u003eA: place bowl on tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace bowl on tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place bowl on tissue paper\n\u003c/PRED\u003e","video":"9396044652963247606.mp4"}
+{"uid":"5034510356770558339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chess coin in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1804973674463528850.mp4"}
+{"uid":"9406060313681634536","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put an orange in the bowl 2- drop orange into bowl 3- drop banana into bowl 4- drop candy into bowl 5- drop candy into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut an orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e","video":"5496218768303508676.mp4"}
+{"uid":"11846215500825276645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the book from middle stack place it on right side of book shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14921635341194091097.mp4"}
+{"uid":"12420325749148552542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3901748914430700017.mp4"}
+{"uid":"11615959613546001701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13796762411245433219.mp4"}
+{"uid":"8534589361400772831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the cell Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2504684829497544763.mp4"}
+{"uid":"11770310653312173253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5156633873502961451.mp4"}
+{"uid":"4636916720422152559","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the oranges in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the oranges in the bowl. last 20 steps: 1- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the bowl 2- Put the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e","video":"8230729046761698246.mp4"}
+{"uid":"2076839452611303326","text":"\u003ctask:success:discrete:False\u003e\nput the green toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green toy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: put the green toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table Q: immediate next step? \u003cPRED\u003eA: put the green toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the green toy on the table 2- put the basket in middle of the table 3- put the pink toy on the table 4- put the basket to the center of the  table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green toy on the table\n\u003c/PRED\u003e","video":"8288103610733140978.mp4"}
+{"uid":"3457274600861780239","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11595689034236642150.mp4"}
+{"uid":"5519065265711275073","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the basket in middle of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the basket in middle of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table 3- put the green toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the basket in middle of the table 2- put the pink toy on the table 3- put the basket to the center of the  table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: put the basket in middle of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the basket in middle of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the basket in middle of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table 3- put the green toy on the table Q: immediate next step? \u003cPRED\u003eA: put the basket in middle of the table\n\u003c/PRED\u003e","video":"9466343198854236848.mp4"}
+{"uid":"2673488193666456594","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer 2- put packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- put packet in the drawer 6- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer 2- put packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- put packet in the drawer 6- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"16056452455618941219.mp4"}
+{"uid":"13382998221694461287","text":"\u003ctask:success:discrete:True\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"2317589108605517671.mp4"}
+{"uid":"17294268812237992166","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer 2- put packet in the drawer 3- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- put packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer 2- put packet in the drawer 3- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"10583242348067366706.mp4"}
+{"uid":"18441130673931450313","text":"\u003ctask:success:discrete:True\u003e\nput the yellow toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow toy on the table\n\u003c/PRED\u003e","video":"17648269838138803363.mp4"}
+{"uid":"8272252147427515397","text":"\u003ctask:success:discrete:False\u003e\ndrop orange toy on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table Q: immediate next step? \u003cPRED\u003eA: drop orange toy on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange toy on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange toy on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange toy on a table 2- put the green toy on the table 3- put the basket in middle of the table 4- put the pink toy on the table 5- put the basket to the center of the  table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange toy on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: drop orange toy on a table\n\u003c/PRED\u003e","video":"10440122698745519902.mp4"}
+{"uid":"13000458050038270543","text":"\u003ctask:success:discrete:True\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"16851735700408656240.mp4"}
+{"uid":"15349384739959670977","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer 2- put packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- put packet in the drawer 6- put packet in the drawer 7- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer 2- put packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- put packet in the drawer 6- put packet in the drawer 7- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"3651070356515188333.mp4"}
+{"uid":"16020425462741485026","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange toy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11510799615619788821.mp4"}
+{"uid":"18069237069124528104","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop pink toy on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop pink toy on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop pink toy on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: drop pink toy on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop pink toy on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table 3- put the green toy on the table 4- put the basket in middle of the table Q: immediate next step? \u003cPRED\u003eA: drop pink toy on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table 3- put the green toy on the table 4- put the basket in middle of the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop pink toy on a table 2- put the basket to the center of the  table 3- done\n\u003c/PRED\u003e","video":"3985607056900994827.mp4"}
+{"uid":"13287174035512585123","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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- put packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"3855211375150154607.mp4"}
+{"uid":"13404909545213858943","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room with the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11901245665798750948.mp4"}
+{"uid":"9244135365213815194","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":"2462085113604800139.mp4"}
+{"uid":"8149384785637340455","text":"\u003ctask:success:discrete:True\u003e\nput the boat train on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the boat train on the table\n\u003c/PRED\u003e","video":"7561498359597426268.mp4"}
+{"uid":"183412110244577160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove banana to the right of the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15284056633269183636.mp4"}
+{"uid":"5452745045926699100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10124204064021647110.mp4"}
+{"uid":"12921082162255321922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cups in the glass stands Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14099146038497094036.mp4"}
+{"uid":"13220141269328600887","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16417649938434982509.mp4"}
+{"uid":"9807466966666872475","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer 2- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer 2- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- put packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- put packet in the drawer\n\u003c/PRED\u003e","video":"6181633366429720253.mp4"}
+{"uid":"15630807982001430320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3082051128107318421.mp4"}
+{"uid":"11852173254803405930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10966836190684285470.mp4"}
+{"uid":"13261838475448148339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4177789516968166430.mp4"}
+{"uid":"4033419174484495695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4307710022754457915.mp4"}
+{"uid":"8398755498906953109","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table 3- put the green toy on the table 4- put the basket in middle of the table 5- put the pink toy on the table 6- put the basket to the center of the  table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the basket to the center of the  table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the basket to the center of the  table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table 3- put the green toy on the table 4- put the basket in middle of the table 5- put the pink toy on the table 6- put the basket to the center of the  table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11049983895958024085.mp4"}
+{"uid":"11627448962543409197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14827509059708877609.mp4"}
+{"uid":"17809710731025771352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy into the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17781054862519845432.mp4"}
+{"uid":"885388202248046509","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: put the boat train on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the boat train on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table 3- put the green toy on the table 4- put the basket in middle of the table Q: immediate next step? \u003cPRED\u003eA: put the boat train on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table 3- put the green toy on the table 4- put the basket in middle of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the boat train on the table 2- put the basket to the center of the  table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the boat train on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the boat train on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 boat train on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11900955584100489727.mp4"}
+{"uid":"17893521137943154548","text":"\u003ctask:success:discrete:True\u003e\ndrop orange toy on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange toy on a table\n\u003c/PRED\u003e","video":"15315182237639156567.mp4"}
+{"uid":"17740094890898914206","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: put the boat toy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table Q: immediate next step? \u003cPRED\u003eA: put the boat toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the boat toy on the table 2- put the basket in middle of the table 3- put the pink toy on the table 4- put the basket to the center of the  table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the boat toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the boat toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the boat toy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the boat toy on the table\n\u003c/PRED\u003e","video":"994844088599476374.mp4"}
+{"uid":"8591316256609740292","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":"2162812302832893101.mp4"}
+{"uid":"9852417796818200487","text":"\u003ctask:success:discrete:True\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"9420401354344420545.mp4"}
+{"uid":"537510807888557514","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: place a yellow toy on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a yellow toy on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a yellow toy on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a yellow toy on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a yellow toy on a table 2- put the orange toy on the table 3- put the green toy on the table 4- put the basket in middle of the table 5- put the pink toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a yellow toy on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a yellow toy on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10005837627807697025.mp4"}
+{"uid":"11135943879918957478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5727760717315593340.mp4"}
+{"uid":"9242951550048558001","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the boat train on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the boat train on the table 2- put the green toy on the table 3- put the basket in middle of the table 4- put the pink toy on the table 5- put the basket to the center of the  table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the boat train on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table Q: immediate next step? \u003cPRED\u003eA: put the boat train on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the boat train on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the boat train on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: put the boat train on the table\n\u003c/PRED\u003e","video":"8516649044246898439.mp4"}
+{"uid":"15971603958710659511","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink toy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: put the pink toy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table 3- put the green toy on the table 4- put the basket in middle of the table Q: immediate next step? \u003cPRED\u003eA: put the pink toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table 3- put the green toy on the table 4- put the basket in middle of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink toy on the table 2- put the basket to the center of the  table 3- done\n\u003c/PRED\u003e","video":"2128210297926427982.mp4"}
+{"uid":"12226470523628796353","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen green marker box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2278896895499235152.mp4"}
+{"uid":"999718137275635558","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":"3877634462408468399.mp4"}
+{"uid":"6213554457677227992","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table 3- put the green toy on the table 4- put the basket in middle of the table 5- put the pink toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the basket to the center of the  table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the basket to the center of the  table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table 3- put the green toy on the table 4- put the basket in middle of the table 5- put the pink toy on the table Q: immediate next step? \u003cPRED\u003eA: put the basket to the center of the  table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the basket to the center of the  table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the basket to the center of the  table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: put the basket to the center of the  table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the basket to the center of the  table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8358668875548271820.mp4"}
+{"uid":"16583221828267564357","text":"\u003ctask:success:discrete:True\u003e\nput the boat toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the boat toy on the table\n\u003c/PRED\u003e","video":"6178497330044544072.mp4"}
+{"uid":"16327751652765212851","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":"13294300161015930430.mp4"}
+{"uid":"16484346285871362799","text":"\u003ctask:success:discrete:False\u003e\nput the orange toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange toy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table Q: immediate next step? \u003cPRED\u003eA: put the orange toy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange toy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: put the orange toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange toy on the table 2- put the green toy on the table 3- put the basket in middle of the table 4- put the pink toy on the table 5- put the basket to the center of the  table\n\u003c/PRED\u003e","video":"15240268493281534067.mp4"}
+{"uid":"4300950838699807540","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":"237492894518391081.mp4"}
+{"uid":"14318440974888187159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15684701621360075021.mp4"}
+{"uid":"8442614804849979364","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5645647922764068920.mp4"}
+{"uid":"3007022115273482000","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- put packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"6431716693917018226.mp4"}
+{"uid":"15889130371612250558","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17126774747233710836.mp4"}
+{"uid":"9920881576504980099","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: drop green toy on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop green toy on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table Q: immediate next step? \u003cPRED\u003eA: drop green toy on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop green toy on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop green toy on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: 1- put the yellow toy on the table 2- put the orange toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop green toy on a table 2- put the basket in middle of the table 3- put the pink toy on the table 4- put the basket to the center of the  table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop green toy on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3343488751802815559.mp4"}
+{"uid":"9196490537153676323","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the boat toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the boat toy on the table 2- put the orange toy on the table 3- put the green toy on the table 4- put the basket in middle of the table 5- put the pink toy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the boat toy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the boat toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take boat toy out of basket Q: immediate next step? \u003cPRED\u003eA: put the boat toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the boat toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take boat toy out of basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the boat toy on the table\n\u003c/PRED\u003e","video":"6142649590703395917.mp4"}
+{"uid":"8686375732587333265","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pink toy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pink toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13476550323138017977.mp4"}
+{"uid":"8623114256236991112","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16234234369110390583.mp4"}
+{"uid":"6269089462803673541","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer 2- put packet in the drawer 3- put packet in the drawer 4- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer 2- put packet in the drawer 3- put packet in the drawer 4- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- put packet in the drawer 3- put packet in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"7253726304108906971.mp4"}
+{"uid":"2858850693909785142","text":"\u003ctask:success:discrete:False\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer 2- put packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the chips to the top draw. last 20 steps: 1- open the drawer 2- put packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- put packet in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13604557020678725793.mp4"}
+{"uid":"2510565289764698332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12985630979587064922.mp4"}
+{"uid":"13390968916766224758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brown 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":"13002756210438449803.mp4"}
+{"uid":"5328216799116330922","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place white packets on the table 2- place white packets on the table 3- place white packets on the table 4- put packet on the table 5- Put the holder forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace white packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table Q: immediate next step? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e","video":"12325818755049691880.mp4"}
+{"uid":"13675729777162979200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards 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":"16654531839680129941.mp4"}
+{"uid":"6815768771349863641","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on the table 2- place white packets on the table 3- put packet on the table 4- Put the holder forward 5- done\n\u003c/PRED\u003e","video":"5393108714513915422.mp4"}
+{"uid":"17004417100511125985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"504461003923233721.mp4"}
+{"uid":"6649728828928388315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17856876021073979394.mp4"}
+{"uid":"4907095384468660404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7487889229211248909.mp4"}
+{"uid":"8455968323635204748","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: place white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: place white packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place white packet on the table 2- place white packet on the table 3- place white packets on the table 4- place white packets on the table 5- place white packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packet on the table\n\u003c/PRED\u003e","video":"4906122828629270416.mp4"}
+{"uid":"18355156897685345456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16620326950906214782.mp4"}
+{"uid":"3546705463720056770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2462135505335047701.mp4"}
+{"uid":"7899521060702824893","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on the table 2- place white packets on the table 3- put packet on the table 4- Put the holder forward 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e","video":"17646215462824979489.mp4"}
+{"uid":"16144202221520764516","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12440183852945758405.mp4"}
+{"uid":"16387806235056576300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the door handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14803489929249473891.mp4"}
+{"uid":"13205884687759294932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the cups in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7763208824549976827.mp4"}
+{"uid":"15828928306859341731","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7443904503898562226.mp4"}
+{"uid":"8401297079620983866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14666652214930814398.mp4"}
+{"uid":"14715830409731743250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the seaweed snacks packet  in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18063451082331277097.mp4"}
+{"uid":"8824386846850484708","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a green cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15298547665635303711.mp4"}
+{"uid":"17487142820687830996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a dry fruit in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3019778765431249323.mp4"}
+{"uid":"8464833235091539010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15347153788254149848.mp4"}
+{"uid":"15614299231150316350","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packets on the table 2- place white packets on the table 3- place white packets on the table 4- put packet on the table 5- Put the holder forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e","video":"12412888058760085756.mp4"}
+{"uid":"10413500928574162028","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table 7- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place white packet on the table 2- Put the holder forward 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: place white packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table 7- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: place white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1061197926907961283.mp4"}
+{"uid":"1051374425604659263","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on the table 2- put packet on the table 3- Put the holder forward 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16105887694522915291.mp4"}
+{"uid":"1351779945448770059","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place white packets on the table 2- put packet on the table 3- Put the holder forward 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e","video":"15737790955758934277.mp4"}
+{"uid":"4027583070036245998","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- place white packets on the table 3- place white packets on the table 4- put packet on the table 5- Put the holder forward\n\u003c/PRED\u003e","video":"4192937089667428379.mp4"}
+{"uid":"11278311928299046830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14016235412205315000.mp4"}
+{"uid":"12010094610787920200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow marker in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12369516169574445954.mp4"}
+{"uid":"7361398107843955828","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place white packets on the table 2- place white packets on the table 3- put packet on the table 4- Put the holder forward 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e","video":"7340062946180796908.mp4"}
+{"uid":"11973924968732003845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the spray bottle into 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":"15345844778404736412.mp4"}
+{"uid":"3307083262185867270","text":"\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table 7- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table 7- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- Put the holder forward 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"5510836328884458997.mp4"}
+{"uid":"9836681344598351372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4085171391080398443.mp4"}
+{"uid":"14150673047519956656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11978937534282969528.mp4"}
+{"uid":"12373616543541407818","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table 7- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the holder forward 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table 7- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"15932504051969425997.mp4"}
+{"uid":"1694892630709085454","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packets on the table 2- put packet on the table 3- Put the holder forward 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5002215306050119229.mp4"}
+{"uid":"1398025846799578679","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place white packets on the table 2- place white packet on the table 3- place white packet on the table 4- place white packets on the table 5- place white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e","video":"12672257091920183584.mp4"}
+{"uid":"5282846172094949145","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the tissue on able Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9673475989681073033.mp4"}
+{"uid":"8149589701482097017","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":"1434763852589878702.mp4"}
+{"uid":"14398145393067236092","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- place white packets on the table 3- place white packets on the table 4- place white packets on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1528001209851251295.mp4"}
+{"uid":"18312035032388407947","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the holder forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the holder forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table 7- place white packets on the table 8- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the holder forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table 6- place white packets on the table 7- place white packets on the table 8- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the holder forward 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the holder forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 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\nPut the 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","video":"15080442970399859273.mp4"}
+{"uid":"5527710754895582668","text":"\u003ctask:success:discrete:False\u003e\nplace white packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10413819062069235810.mp4"}
+{"uid":"3782900299914187212","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table Q: immediate next step? \u003cPRED\u003eA: place white packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place white packet on the table 2- place white packets on the table 3- place white packets on the table 4- place white packets on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: place white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11311364957338983907.mp4"}
+{"uid":"9595075640387209339","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packets on the table 2- place white packets on the table 3- put packet on the table 4- Put the holder forward 5- done\n\u003c/PRED\u003e","video":"6110446261070051697.mp4"}
+{"uid":"13428170509372340846","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the sticky notes from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8751465244682829090.mp4"}
+{"uid":"10295115809049557662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange box into the white box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10787183203387709106.mp4"}
+{"uid":"15174436829339191892","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":"3961062018237152620.mp4"}
+{"uid":"12681888056322131458","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15237485529165263895.mp4"}
+{"uid":"13024027989033066788","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on the table 2- place white packet on the table 3- place white packet on the table 4- place white packets on the table 5- place white packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e","video":"13409426693304894075.mp4"}
+{"uid":"8043038410182935191","text":"\u003ctask:success:discrete:False\u003e\nput packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on the table 2- place white packets on the table 3- place white packet on the table 4- place white packet on the table 5- place white packets on the table\n\u003c/PRED\u003e","video":"11163017948092336720.mp4"}
+{"uid":"5342479144155403399","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- place white packet on the table 3- place white packets on the table 4- place white packets on the table 5- place white packets on the table\n\u003c/PRED\u003e","video":"16291588586353168817.mp4"}
+{"uid":"9146861683916635640","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- place white packets on the table 3- place white packets on the table 4- place white packets on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table 2- place white packets on the table 3- place white packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"9662401817309639045.mp4"}
+{"uid":"5071751802628842716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6351458304266481219.mp4"}
+{"uid":"16174902678677734703","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray. last 20 steps: 1- place white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packets on the table 2- place white packet on the table 3- place white packet on the table 4- place white packets on the table 5- place white packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e","video":"12752576329524719404.mp4"}
+{"uid":"12838253482873519331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15952764794626777098.mp4"}
+{"uid":"8088703398078211492","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana 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":"16930737461587492178.mp4"}
+{"uid":"9621863302939571213","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3480108847381004872.mp4"}
+{"uid":"16979419866702276143","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put banana in the bowl 5- put grapes in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put apple in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put banana in the bowl 5- put grapes in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"9282475852612705756.mp4"}
+{"uid":"16154091289145667481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a black pebble on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7288030228990779618.mp4"}
+{"uid":"11557385219643639759","text":"\u003ctask:success:discrete:True\u003e\nput the banana 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 banana in the tray\n\u003c/PRED\u003e","video":"13351310585314626023.mp4"}
+{"uid":"5208038545533219005","text":"\u003ctask:success:discrete:True\u003e\nput the tray in the back of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tray in the back of the table\n\u003c/PRED\u003e","video":"8858872228246815308.mp4"}
+{"uid":"9888958413721516039","text":"\u003ctask:success:discrete:False\u003e\nput the banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in a bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e","video":"8722502964563262398.mp4"}
+{"uid":"13308716208282926206","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the tray 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e","video":"1840953125380698967.mp4"}
+{"uid":"1175975489664098663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nBring the bowl to 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":"4562593541943643388.mp4"}
+{"uid":"11968255940147085785","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in a bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e","video":"2372539736741684244.mp4"}
+{"uid":"15131389754135255099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9480225672789506585.mp4"}
+{"uid":"11087515192680807851","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put banana in the bowl 3- put grapes in the bowl 4- put orange in the bowl 5- put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"15966224652876610456.mp4"}
+{"uid":"18060767967173370695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14419794563718748587.mp4"}
+{"uid":"17056774101406021700","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put banana in the bowl 5- put grapes in the bowl 6- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put apple in the bowl 3- put orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put banana in the bowl 5- put grapes in the bowl 6- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"17215564424133533805.mp4"}
+{"uid":"60198879753494769","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the tray 2- put the tray in the back of the table 3- place the bowl at the edge of the table 4- done\n\u003c/PRED\u003e","video":"5334603121992719007.mp4"}
+{"uid":"7252074245214538640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the almond egg in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3599349609114543453.mp4"}
+{"uid":"10876812454518265205","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":"4915571733819463636.mp4"}
+{"uid":"15682040949514022976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"196023413037942666.mp4"}
+{"uid":"3202502035429723096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the fruit in a glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17001432035967407481.mp4"}
+{"uid":"2902338741680494894","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the tray 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e","video":"5511828982179579463.mp4"}
+{"uid":"2898544988414623016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3981384359178636648.mp4"}
+{"uid":"8132690501924445917","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the tray 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e","video":"11146743504299927853.mp4"}
+{"uid":"11682482079649705655","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the tray 2- put the banana in the tray 3- put the tray in the back of the table 4- place the bowl at the edge of the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e","video":"5267666129705015494.mp4"}
+{"uid":"8650247280772514492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pouch in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17894347748350708937.mp4"}
+{"uid":"10720974544787122679","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput grapes in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put grapes in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put apple in the bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e","video":"5544724243138270661.mp4"}
+{"uid":"12653687531872871464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass on the stand of filling maching Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12401200895073244343.mp4"}
+{"uid":"16582903499734602070","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bananas in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the bananas in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11673746900319738452.mp4"}
+{"uid":"8935006406726819066","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the bowl on another table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the bowl on another table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bowl on another table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the bowl on another table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"684287014862680998.mp4"}
+{"uid":"17321389752088871723","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the orange packet on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17097739909521212860.mp4"}
+{"uid":"1859209771787808954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"455930729490183755.mp4"}
+{"uid":"12939481944793527204","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in a bowl 2- place the bowl at the edge of the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e","video":"5602522854941658819.mp4"}
+{"uid":"16904842191912585691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper clip in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17720041058086434027.mp4"}
+{"uid":"16692868568193566391","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":"1522328411348099074.mp4"}
+{"uid":"3236299467420649543","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray Q: immediate next step? \u003cPRED\u003eA: put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tray in the back of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tray in the back of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the tray in the back of the table 2- place the bowl at the edge of the table 3- done\n\u003c/PRED\u003e","video":"3784901151802212072.mp4"}
+{"uid":"15269128602812160726","text":"\u003ctask:success:discrete:True\u003e\nput the banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e","video":"6252912776919212411.mp4"}
+{"uid":"12700177157916947134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange chocolate in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13636644028517050878.mp4"}
+{"uid":"16634047696420803403","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana 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":"15621446896479002903.mp4"}
+{"uid":"12108581016215340273","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put banana in the bowl 5- put grapes in the bowl 6- put orange in the bowl 7- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put banana in the bowl 5- put grapes in the bowl 6- put orange in the bowl 7- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"4200104931054441837.mp4"}
+{"uid":"12137890589030163557","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the tray 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e","video":"15670668593487144708.mp4"}
+{"uid":"3672553273740876419","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana 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":"5773380049661316853.mp4"}
+{"uid":"1673651638895320827","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper glasses in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3091576793261643312.mp4"}
+{"uid":"12893819584076692714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput another orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14300677339079674607.mp4"}
+{"uid":"17889149119152774638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16560820055791440747.mp4"}
+{"uid":"5611879331766872007","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the tray 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table\n\u003c/PRED\u003e","video":"11455672640680501214.mp4"}
+{"uid":"11849241134126327124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop Pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15613553842454591844.mp4"}
+{"uid":"5717459829693901534","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put apple in the bowl 3- put banana in the bowl 4- put grapes in the bowl 5- put orange in the bowl\n\u003c/PRED\u003e","video":"11737349827926267808.mp4"}
+{"uid":"6293796135111194116","text":"\u003ctask:success:discrete:True\u003e\nput the banana 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 banana in the tray\n\u003c/PRED\u003e","video":"12739756981264879194.mp4"}
+{"uid":"11779151131395299556","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana 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":"776930803845682682.mp4"}
+{"uid":"12089976487568999737","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl at the edge of the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: place the bowl at the edge of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl at the edge of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl at the edge of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table Q: immediate next step? \u003cPRED\u003eA: place the bowl at the edge of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl at the edge of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl at the edge of the table\n\u003c/PRED\u003e","video":"1825700774233101130.mp4"}
+{"uid":"16712910646114446428","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana 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":"7470028064345537716.mp4"}
+{"uid":"13167525919531338132","text":"\u003ctask:success:discrete:True\u003e\nput grapes in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e","video":"13148339510582735513.mp4"}
+{"uid":"6536008609237204912","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the tray 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7461025511625614718.mp4"}
+{"uid":"13408888987498779336","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in a bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e","video":"6390822027161493613.mp4"}
+{"uid":"7864537391177998530","text":"\u003ctask:success:discrete:True\u003e\nput the banana 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 banana in the tray\n\u003c/PRED\u003e","video":"5711007166808652867.mp4"}
+{"uid":"10677125421686653690","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put banana in the bowl 5- put grapes in the bowl 6- put orange in the bowl 7- put apple in the bowl 8- put apple in the bowl 9- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put banana in the bowl 5- put grapes in the bowl 6- put orange in the bowl 7- put apple in the bowl 8- put apple in the bowl 9- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15802733243802711281.mp4"}
+{"uid":"2560175833690610588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the jar with lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13756068327493343360.mp4"}
+{"uid":"4819606969456433238","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in a bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e","video":"9426253965038972245.mp4"}
+{"uid":"4797039559441905992","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in a bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e","video":"2061792663539841421.mp4"}
+{"uid":"11217026483022613338","text":"\u003ctask:success:discrete:True\u003e\nput the banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e","video":"12715565407758346311.mp4"}
+{"uid":"12778725836181146979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the coffee cups on the other cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7408545875912679788.mp4"}
+{"uid":"12186445977826268634","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in a bowl 2- put the tray in the back of the table 3- place the bowl at the edge of the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e","video":"3157668710049127478.mp4"}
+{"uid":"5734528126045460777","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl at the edge of the table 2- place the bowl at the edge of the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl at the edge of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: place the bowl at the edge of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl at the edge of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray Q: immediate next step? \u003cPRED\u003eA: place the bowl at the edge of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl at the edge of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl at the edge of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14187114624165714492.mp4"}
+{"uid":"3358579066760036550","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the tray 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray 5- put the tray in the back of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e","video":"7317592753267574624.mp4"}
+{"uid":"9615423274349162387","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10620094412811403272.mp4"}
+{"uid":"5673940503354190897","text":"\u003ctask:success:discrete:True\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"3383986535192289238.mp4"}
+{"uid":"1358506073480068542","text":"\u003ctask:success:discrete:True\u003e\nput the banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e","video":"10346112816592088541.mp4"}
+{"uid":"16408986242163755879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the tape dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7052065011815098430.mp4"}
+{"uid":"4544155602244206942","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":"13587218804779828411.mp4"}
+{"uid":"1415880358035362408","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3394076987908776879.mp4"}
+{"uid":"4131686000126098707","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1235284671985677814.mp4"}
+{"uid":"10625282539140265332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the right chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9017818801472334981.mp4"}
+{"uid":"4249391670000656331","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9267157473830926918.mp4"}
+{"uid":"11633195745024990409","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4087810780889316542.mp4"}
+{"uid":"2262204289881057633","text":"\u003ctask:success:discrete:False\u003e\nput the bowl on another table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bowl on another table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bowl on another table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray Q: immediate next step? \u003cPRED\u003eA: put the bowl on another table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bowl on another table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl 2- put the banana in the tray 3- put the banana in the tray 4- put the banana in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl on another table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the bananas in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the bowl on another table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bananas in the bowl\n\u003c/PRED\u003e","video":"11493242291115177714.mp4"}
+{"uid":"15020684508029217857","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: 1- put the bananas in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in a bowl 2- put the banana in the tray 3- put the tray in the back of the table 4- place the bowl at the edge of the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e","video":"15666398775073479309.mp4"}
+{"uid":"16876713857044189077","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put banana in the bowl 5- put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"14444466997602108406.mp4"}
+{"uid":"5116897975048924830","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the tray 2- put the banana in the tray 3- put the banana in the tray 4- put the tray in the back of the table 5- place the bowl at the edge of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the tray\n\u003c/PRED\u003e","video":"17934216525575189868.mp4"}
+{"uid":"13042222592967255394","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- put grapes in the bowl 3- put orange in the bowl 4- put apple in the bowl 5- put apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"12612764277539832043.mp4"}
+{"uid":"5228857319264118365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the candy from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1535131525819822748.mp4"}
+{"uid":"11571794673796746225","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3445255423673833133.mp4"}
+{"uid":"8292961394201782977","text":"\u003ctask:success:discrete:True\u003e\nput the banana 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 banana in the tray\n\u003c/PRED\u003e","video":"5986698548096163674.mp4"}
+{"uid":"8953569583598880458","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":"4515747425712138762.mp4"}
+{"uid":"12490703417475957932","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put banana in the bowl 5- put grapes in the bowl 6- put orange in the bowl 7- put apple in the bowl 8- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put banana in the bowl 5- put grapes in the bowl 6- put orange in the bowl 7- put apple in the bowl 8- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"2082594098586308087.mp4"}
+{"uid":"3351420914362690826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6079221637455303451.mp4"}
+{"uid":"15422234803680042348","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the bananas in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. Q: immediate next step? \u003cPRED\u003eA: put the bananas in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock bananas into bowl in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the bananas in the bowl 2- place the bowl at the edge of 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 bananas in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bananas in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bananas in the bowl\n\u003c/PRED\u003e","video":"1205576147639731228.mp4"}
+{"uid":"1330747844885331675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2360210158354029914.mp4"}
+{"uid":"16240022161140232078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bottle into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11744445290537554501.mp4"}
+{"uid":"11417356785528263277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7679598980030213853.mp4"}
+{"uid":"4043230205899678147","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nFold the right bottom side of the T shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFold the right bottom side of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fold the right bottom side of the T shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt Q: next 5 steps? \u003cPRED\u003eA: 1- Fold the right bottom side of the T shirt 2- fold the right sleeve of the shirt 3- put the shirt in the centre of the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: Fold the right bottom side of the T shirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt Q: immediate next step? \u003cPRED\u003eA: Fold the right bottom side of the T shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fold the right bottom side of the T shirt\n\u003c/PRED\u003e","video":"6248032262859745118.mp4"}
+{"uid":"17163541980784285958","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":"735571068728805997.mp4"}
+{"uid":"10356173137537160754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3346067864770492693.mp4"}
+{"uid":"15899998507046921067","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the yellow pear on the table 3- place the yellow pear on the table 4- place the apple on the table 5- place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"12851095946862325925.mp4"}
+{"uid":"13484248723526787040","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen holder in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5725560409160105001.mp4"}
+{"uid":"1098479282105357087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the turkey stick in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6494412852897885901.mp4"}
+{"uid":"13174519227502185692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1652943335781228976.mp4"}
+{"uid":"13261502066411171963","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the shirt in the centre of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the shirt in the centre of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the shirt in the centre of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt 3- fold the left bottom of the shirt 4- fold the right sleeve of the shirt Q: immediate next step? \u003cPRED\u003eA: put the shirt in the centre of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: put the shirt in the centre of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the shirt in the centre of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt 3- fold the left bottom of the shirt 4- fold the right sleeve of the shirt Q: next 5 steps? \u003cPRED\u003eA: 1- put the shirt in the centre of the table 2- done\n\u003c/PRED\u003e","video":"6566777564561241020.mp4"}
+{"uid":"12214628591673395230","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the blue ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3051636257165887616.mp4"}
+{"uid":"15604525081162357137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the banana peel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13357756700308223910.mp4"}
+{"uid":"2235889038862883149","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fold the right sleeve of the shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nfold the right sleeve of the shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3828497536581437669.mp4"}
+{"uid":"1437399260730978131","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the  apple on the table 2- place the apple on the table 3- place the yellow pear on the table 4- place the yellow pear on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: place the  apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the  apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table Q: immediate next step? \u003cPRED\u003eA: place the  apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the  apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the  apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the  apple on the table\n\u003c/PRED\u003e","video":"221501946949457500.mp4"}
+{"uid":"16516653053457586773","text":"\u003ctask:success:discrete:False\u003e\nfold the bottom left part of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fold the bottom left part of the T shirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fold the bottom left part of the T shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfold the bottom left part of the T shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: fold the bottom left part of the T shirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt 3- fold the left bottom of the shirt Q: immediate next step? \u003cPRED\u003eA: fold the bottom left part of the T shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt 3- fold the left bottom of the shirt Q: next 5 steps? \u003cPRED\u003eA: 1- fold the bottom left part of the T shirt 2- put the shirt in the centre of the table 3- done\n\u003c/PRED\u003e","video":"14702895592234342430.mp4"}
+{"uid":"16224211314156805200","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table 3- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table 3- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow pear on the table 2- place the yellow pear on the table 3- place the apple on the table 4- place the yellow pear on the table 5- place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e","video":"2088233422419061705.mp4"}
+{"uid":"4554775767944827543","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table 3- place the apple on the table 4- place the yellow pear on the table 5- place the yellow pear on the table 6- place the apple on the table 7- place the yellow pear on the table 8- place the yellow pear on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table 3- place the apple on the table 4- place the yellow pear on the table 5- place the yellow pear on the table 6- place the apple on the table 7- place the yellow pear on the table 8- place the yellow pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11921206269300270769.mp4"}
+{"uid":"6674501315734834255","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fold the left bottom of the shirt\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fold the right bottom side of the T shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nfold the left bottom of the shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED: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\nFold the right bottom side of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5524034605318480092.mp4"}
+{"uid":"9519581487912989997","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fold the left bottom side of the T shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nFold the left bottom side of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7147658681613525176.mp4"}
+{"uid":"7351976381955245480","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table 3- place the apple on the table 4- place the yellow pear on the table 5- place the yellow pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the yellow pear on the table 3- place the yellow pear on the table 4- place the apple on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table 3- place the apple on the table 4- place the yellow pear on the table 5- place the yellow pear on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14328566088535126326.mp4"}
+{"uid":"4390592976163739440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pens 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":"17301223181730331211.mp4"}
+{"uid":"11767260683410852609","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13888923205245654110.mp4"}
+{"uid":"211075227140141124","text":"\u003ctask:success:discrete:True\u003e\nmove the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair\n\u003c/PRED\u003e","video":"7642988322889703995.mp4"}
+{"uid":"12848029873834311060","text":"\u003ctask:success:discrete:True\u003e\nFold the left sleeve of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fold the left sleeve of the T shirt\n\u003c/PRED\u003e","video":"16325445362935169379.mp4"}
+{"uid":"1109915279132015283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17927218267307764877.mp4"}
+{"uid":"521803741342034420","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brush 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":"177180399750370252.mp4"}
+{"uid":"7092906742026865248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the bowl to 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":"17792352814056115689.mp4"}
+{"uid":"18202194617679002498","text":"\u003ctask:success:discrete:True\u003e\nfold the right sleeve of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fold the right sleeve of the T shirt\n\u003c/PRED\u003e","video":"3521326804189298465.mp4"}
+{"uid":"14492570731243212508","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move chairs around. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the chair 2- grasp the chair 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move chairs around. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move towards the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move chairs around Q: immediate next step? \u003cPRED\u003eA: move towards the chair\n\u003c/PRED\u003e","video":"13696630446113030668.mp4"}
+{"uid":"16263284854810716726","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow pear on the table 2- place the  apple on the table 3- place the apple on the table 4- place the yellow pear on the table 5- place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18247170141823850907.mp4"}
+{"uid":"10917267422464940795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15405930163592347628.mp4"}
+{"uid":"5951161668977263699","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt 3- fold the left bottom of the shirt 4- fold the right sleeve of the shirt 5- put the shirt in the centre of 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 shirt in the centre of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the shirt in the centre of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt 3- fold the left bottom of the shirt 4- fold the right sleeve of the shirt 5- put the shirt in the centre of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1364277488246646913.mp4"}
+{"uid":"10784859186060427539","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: Fold the left sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fold the left sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFold the left sleeve of the T shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFold the left sleeve of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fold the left sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt 3- fold the left bottom of the shirt 4- fold the right sleeve of the shirt 5- put the shirt in the centre of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Fold the left sleeve of the T shirt\n\u003c/PRED\u003e","video":"18335330585593149881.mp4"}
+{"uid":"10245737124656383644","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fold the bottom right part of the T shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nfold the bottom right part of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9298741255254477832.mp4"}
+{"uid":"1172134616963419151","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table 3- place the apple on the table 4- place the yellow pear on the table 5- place the yellow pear on the table 6- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow pear on the table 2- place the yellow pear on the table 3- place the apple on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table 3- place the apple on the table 4- place the yellow pear on the table 5- place the yellow pear on the table 6- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e","video":"16216111923432399991.mp4"}
+{"uid":"17380679360388999451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10044413402067896529.mp4"}
+{"uid":"5945325180719627142","text":"\u003ctask:success:discrete:True\u003e\nplace the yellow pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e","video":"8452102928726372239.mp4"}
+{"uid":"13910309425910972675","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: Fold the right sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fold the right sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fold the right sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFold the right sleeve of the T shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt Q: next 5 steps? \u003cPRED\u003eA: 1- Fold the right sleeve of the T shirt 2- fold the left bottom of the shirt 3- fold the right sleeve of the shirt 4- put the shirt in the centre of the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFold the right sleeve of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt Q: immediate next step? \u003cPRED\u003eA: Fold the right sleeve of the T shirt\n\u003c/PRED\u003e","video":"11565754044631014330.mp4"}
+{"uid":"4000949705133891453","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table 3- place the apple on the table 4- place the yellow pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow pear on the table 2- place the apple on the table 3- place the yellow pear on the table 4- place the yellow pear on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table 3- place the apple on the table 4- place the yellow pear on the table Q: immediate next step? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e","video":"3985151728399230409.mp4"}
+{"uid":"15254589544115487946","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt Q: immediate next step? \u003cPRED\u003eA: fold the right sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fold the right sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: fold the right sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt Q: next 5 steps? \u003cPRED\u003eA: 1- fold the right sleeve of the T shirt 2- fold the left bottom of the shirt 3- fold the right sleeve of the shirt 4- put the shirt in the centre of the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfold the right sleeve of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fold the right sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfold the right sleeve of the T shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5362697198164394925.mp4"}
+{"uid":"4248267250576213581","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12203124053831570865.mp4"}
+{"uid":"18227151071854455006","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":"1985009007399641949.mp4"}
+{"uid":"16001606989108574758","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fold the left sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nfold the left sleeve of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11338315949914414241.mp4"}
+{"uid":"16122592784590182334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14356864502797529192.mp4"}
+{"uid":"3106395099296617634","text":"\u003ctask:success:discrete:False\u003e\nmove the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move chairs around. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair 2- grasp the chair 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move chairs around. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move chairs around Q: immediate next step? \u003cPRED\u003eA: move the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair\n\u003c/PRED\u003e","video":"9330761901235810010.mp4"}
+{"uid":"1830783915458399068","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nfold the left bottom of the shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: fold the left bottom of the shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt Q: next 5 steps? \u003cPRED\u003eA: 1- fold the left bottom of the shirt 2- fold the right sleeve of the shirt 3- put the shirt in the centre of the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt Q: immediate next step? \u003cPRED\u003eA: fold the left bottom of the shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fold the left bottom of the shirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fold the left bottom of the shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfold the left bottom of the shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14662554417399358646.mp4"}
+{"uid":"12100397490617259608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the black file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6591963128821151860.mp4"}
+{"uid":"17495099907750379163","text":"\u003ctask:success:discrete:False\u003e\nfold the right sleeve of the shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fold the right sleeve of the shirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: fold the right sleeve of the shirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fold the right sleeve of the shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfold the right sleeve of the shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt Q: immediate next step? \u003cPRED\u003eA: fold the right sleeve of the shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt Q: next 5 steps? \u003cPRED\u003eA: 1- fold the right sleeve of the shirt 2- fold the left bottom of the shirt 3- fold the right sleeve of the shirt 4- put the shirt in the centre of the table 5- done\n\u003c/PRED\u003e","video":"11436940068240287969.mp4"}
+{"uid":"17517488762213926226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13436284130979424933.mp4"}
+{"uid":"17752499439920867994","text":"\u003ctask:success:discrete:True\u003e\nfold the right sleeve of the shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fold the right sleeve of the shirt\n\u003c/PRED\u003e","video":"6863870215836673179.mp4"}
+{"uid":"858953103558326609","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: fold the right sleeve of the shirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt 3- fold the left bottom of the shirt Q: immediate next step? \u003cPRED\u003eA: fold the right sleeve of the shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fold the right sleeve of the shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfold the right sleeve of the shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fold the right sleeve of the shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfold the right sleeve of the shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt 3- fold the left bottom of the shirt Q: next 5 steps? \u003cPRED\u003eA: 1- fold the right sleeve of the shirt 2- put the shirt in the centre of the table 3- done\n\u003c/PRED\u003e","video":"9774424432861775040.mp4"}
+{"uid":"9995482528486707564","text":"\u003ctask:success:discrete:False\u003e\nfold the left sleeve of the shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- fold the left sleeve of the shirt 2- fold the right sleeve of the shirt 3- fold the left bottom of the shirt 4- fold the right sleeve of the shirt 5- put the shirt in the centre of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fold the left sleeve of the shirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: fold the left sleeve of the shirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fold the left sleeve of the shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfold the left sleeve of the shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: fold the left sleeve of the shirt\n\u003c/PRED\u003e","video":"9826864466094066092.mp4"}
+{"uid":"3926020854697824361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up blue pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6832015561887087381.mp4"}
+{"uid":"17902869236973826830","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt 3- fold the left bottom of the shirt Q: immediate next step? \u003cPRED\u003eA: Fold the left bottom side of the T shirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fold the left bottom side of the T shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt 3- fold the left bottom of the shirt Q: next 5 steps? \u003cPRED\u003eA: 1- Fold the left bottom side of the T shirt 2- put the shirt in the centre of the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFold the left bottom side of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: Fold the left bottom side of the T shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fold the left bottom side of the T shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFold the left bottom side of the T shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17738613561435311998.mp4"}
+{"uid":"16912241776000728700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11027232377130259498.mp4"}
+{"uid":"14819738346267109415","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fold the left sleeve of the shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nfold the left sleeve of the shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4308489613830571785.mp4"}
+{"uid":"13426886941664464965","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fold the right sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nFold the right sleeve of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9920020168993272840.mp4"}
+{"uid":"11996831328594567614","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fold the left sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfold the left sleeve of the T shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt 3- fold the left bottom of the shirt 4- fold the right sleeve of the shirt 5- put the shirt in the centre of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfold the left sleeve of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: fold the left sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fold the left sleeve of the T shirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: fold the left sleeve of the T shirt\n\u003c/PRED\u003e","video":"13740313834887009809.mp4"}
+{"uid":"10895475731385841430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8577309999148599115.mp4"}
+{"uid":"17623735266715515819","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table 3- place the apple on the table 4- place the yellow pear on the table 5- place the yellow pear on the table 6- place the apple on the table 7- place the yellow pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow pear on the table 2- place the apple on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- place the yellow pear on the table 2- place the  apple on the table 3- place the apple on the table 4- place the yellow pear on the table 5- place the yellow pear on the table 6- place the apple on the table 7- place the yellow pear on the table Q: immediate next step? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow pear on the table\n\u003c/PRED\u003e","video":"10222589522291920288.mp4"}
+{"uid":"3069349789295144922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5866894034108120192.mp4"}
+{"uid":"12192591484783189108","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move chairs around Q: immediate next step? \u003cPRED\u003eA: grasp the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move chairs around. last 20 steps: 1- move the chair 2- move towards the chair Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the chair 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move chairs around. last 20 steps: 1- move the chair 2- move towards the chair Q: immediate next step? \u003cPRED\u003eA: grasp the chair\n\u003c/PRED\u003e","video":"10501860889182660539.mp4"}
+{"uid":"11484666298843205003","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":"682853837315663004.mp4"}
+{"uid":"13240013481211634450","text":"\u003ctask:success:discrete:True\u003e\nfold the bottom left part of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fold the bottom left part of the T shirt\n\u003c/PRED\u003e","video":"11581873847641813875.mp4"}
+{"uid":"16509623351240730529","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nfold the bottom right part of the T shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fold the bottom right part of the T shirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the brown sweater Q: immediate next step? \u003cPRED\u003eA: fold the bottom right part of the T shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt Q: next 5 steps? \u003cPRED\u003eA: 1- fold the bottom right part of the T shirt 2- fold the right sleeve of the shirt 3- put the shirt in the centre of the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfold the bottom right part of the T shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fold the bottom right part of the T shirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the brown sweater. last 20 steps: 1- Fold the left sleeve of the T shirt 2- fold the right sleeve of the shirt Q: immediate next step? \u003cPRED\u003eA: fold the bottom right part of the T shirt\n\u003c/PRED\u003e","video":"16824267144301204958.mp4"}
+{"uid":"11953696665411676896","text":"\u003ctask:success:discrete:True\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"4630149091562126597.mp4"}
+{"uid":"15549918072330047487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm away from the top left plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18298279243165119750.mp4"}
+{"uid":"4738202165604311649","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- put tea bag in the cup 3- put tea bag in the cup 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"609388909900432109.mp4"}
+{"uid":"203528562757135450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11989160196463497408.mp4"}
+{"uid":"16895783097702595323","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the top drawer 2- put tea bag in the cup 3- put tea bag in the cup 4- done\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e","video":"12767031427976305670.mp4"}
+{"uid":"12119889136155801840","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":"10940093577084934523.mp4"}
+{"uid":"10699360098380422683","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pink tea bag in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pink tea bag in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup 6- Put the pink tea bag in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup 6- Put the pink tea bag in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"440503341891295773.mp4"}
+{"uid":"17366164222717741835","text":"\u003ctask:success:discrete:True\u003e\nput the white cup on the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white cup on the bench\n\u003c/PRED\u003e","video":"14466671293101206666.mp4"}
+{"uid":"4844823344942582723","text":"\u003ctask:success:discrete:True\u003e\nPut the cup on the table from 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 cup on the table from the drawer\n\u003c/PRED\u003e","video":"3061104889095641152.mp4"}
+{"uid":"2554212808468246542","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup\n\u003c/PRED\u003e","video":"14620403062016168292.mp4"}
+{"uid":"9349874111818768870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14276288827431858521.mp4"}
+{"uid":"3173551688779602205","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup 6- put the pink packet into the white cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pink packet into the white cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pink packet into the white cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup 6- put the pink packet into the white cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7171844349341901432.mp4"}
+{"uid":"2971442712801825852","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16744958363446038544.mp4"}
+{"uid":"13386562061203006427","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet into the white cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the white cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packet into the white 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 grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet into the white cup 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet into the white cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet into the white cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the white cup\n\u003c/PRED\u003e","video":"13730501514566794146.mp4"}
+{"uid":"8031597613265473051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14404158279746629850.mp4"}
+{"uid":"10863557754662961853","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tea bag in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup 6- put tea bag in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup 6- put tea bag in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tea bag 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":"12904974850460395829.mp4"}
+{"uid":"3861632468991597627","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the number four snooker ball from the billiard 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":"4567313468095545754.mp4"}
+{"uid":"598860126266205430","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":"6157433862581425461.mp4"}
+{"uid":"4599800213412289771","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup on the table 2- place the cup on the table 3- Close the drawer 4- put tea bag in the cup 5- put tea bag in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e","video":"16966706710145868630.mp4"}
+{"uid":"16165851038599675040","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"5323886871867628397.mp4"}
+{"uid":"14981364972767566379","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put tea bag in the cup 2- put tea bag in the cup 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tea bag in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tea bag in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: put tea bag in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer Q: immediate next step? \u003cPRED\u003eA: put tea bag in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tea bag in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tea bag in the cup\n\u003c/PRED\u003e","video":"16295184031642634429.mp4"}
+{"uid":"6714141258917396841","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer Q: immediate next step? \u003cPRED\u003eA: put the white cup on the bench\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: put the white cup on the bench\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white cup on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white cup on the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white cup on the bench\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white cup on the bench\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white cup on the bench 2- Close the drawer 3- put tea bag in the cup 4- put tea bag in the cup 5- done\n\u003c/PRED\u003e","video":"7934147740533420033.mp4"}
+{"uid":"13321932164033304787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14128592283753705661.mp4"}
+{"uid":"1727806154672455157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1517620962275866923.mp4"}
+{"uid":"12494249515865440768","text":"\u003ctask:success:discrete:True\u003e\nput the white cup on the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white cup on the bench\n\u003c/PRED\u003e","video":"10794784286868796548.mp4"}
+{"uid":"3365063594867141821","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16998908121098954420.mp4"}
+{"uid":"9371320201802274848","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cup on the table from 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 cup on the table from the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: Put the cup on the table from the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup on the table from the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup on the table from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cup on the table from the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup on the table from the drawer 2- Close the drawer 3- put tea bag in the cup 4- put tea bag in the cup 5- done\n\u003c/PRED\u003e","video":"12617564316326061046.mp4"}
+{"uid":"17876366883589559285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7399123034935113107.mp4"}
+{"uid":"6285957343032379523","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen in pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12249783268897331947.mp4"}
+{"uid":"2327104587557744272","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12340432082356169666.mp4"}
+{"uid":"15042799470705361971","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"480395660470090619.mp4"}
+{"uid":"1420056081132749040","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow tea bag in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow tea bag in the cup 2- put tea bag in the cup 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow tea bag in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow tea bag in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: Put the yellow tea bag in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Put the yellow tea bag in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow tea bag in the cup\n\u003c/PRED\u003e","video":"6610705244216510371.mp4"}
+{"uid":"4325674199695950069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11257764171619492826.mp4"}
+{"uid":"17367414420153894150","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11674001855515464563.mp4"}
+{"uid":"12634324450023160447","text":"\u003ctask:success:discrete:False\u003e\nopen the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3213077979595197674.mp4"}
+{"uid":"4640562298044110593","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- put tea bag in the cup 3- put tea bag in the cup 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17734594073963885176.mp4"}
+{"uid":"3545002491238946572","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10132303315283004310.mp4"}
+{"uid":"18440650130840552840","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput tea bag in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tea bag in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put tea bag in the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tea bag in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup Q: immediate next step? \u003cPRED\u003eA: put tea bag in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: put tea bag in the cup\n\u003c/PRED\u003e","video":"3537562664139356828.mp4"}
+{"uid":"14293300422982682685","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: put the white cup on the bench\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white cup on the bench\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white cup on the bench\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white cup on the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white cup on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer Q: immediate next step? \u003cPRED\u003eA: put the white cup on the bench\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white cup on the bench 2- place the cup on the table 3- Close the drawer 4- put tea bag in the cup 5- put tea bag in the cup\n\u003c/PRED\u003e","video":"15856170325010866820.mp4"}
+{"uid":"4078408221082731855","text":"\u003ctask:success:discrete:True\u003e\nput tea bag in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tea bag in the cup\n\u003c/PRED\u003e","video":"17131060863805033743.mp4"}
+{"uid":"13280117804498125698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13560018591334619614.mp4"}
+{"uid":"4570618374510575689","text":"\u003ctask:success:discrete:False\u003e\nplace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup on the table 2- Close the drawer 3- put tea bag in the cup 4- put tea bag in the cup 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"768471310262332090.mp4"}
+{"uid":"16935580425316664996","text":"\u003ctask:success:discrete:True\u003e\nPut the yellow tea bag in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow tea bag in the cup\n\u003c/PRED\u003e","video":"13396360442970346386.mp4"}
+{"uid":"11711731482371715985","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup on the table from the drawer 2- place the cup on the table 3- Close the drawer 4- put tea bag in the cup 5- put tea bag in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup on the table from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cup on the table from the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup on the table from the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cup on the table from the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: Put the cup on the table from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cup on the table from the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10797145525516817852.mp4"}
+{"uid":"5689581072821018587","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink tea bag in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink tea bag in the cup 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink tea bag in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink tea bag in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: Put the pink tea bag in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer 5- put tea bag in the cup Q: immediate next step? \u003cPRED\u003eA: Put the pink tea bag in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink tea bag in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15675299670308167901.mp4"}
+{"uid":"13484751708090730789","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":"15825492674219464969.mp4"}
+{"uid":"17012515049502686779","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer Q: immediate next step? \u003cPRED\u003eA: put the green packet into the white cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet into the white cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet into the white cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug Q: immediate next step? \u003cPRED\u003eA: put the green packet into the white cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mugs fom the drawer and place a tea pack in each mug. last 20 steps: 1- open the top drawer 2- Put the cup on the table from the drawer 3- place the cup on the table 4- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet into the white cup 2- put tea bag in the cup 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packet into the white cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet into the white cup\n\u003c/PRED\u003e","video":"18259194656850521518.mp4"}
+{"uid":"8981079845691366162","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nEnter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14000253974903149758.mp4"}
+{"uid":"14240863070824194644","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13983073502660860958.mp4"}
+{"uid":"856037893293066075","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cup on the table from the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cup on the table from the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7885146422940684533.mp4"}
+{"uid":"5897915414308418583","text":"\u003ctask:success:discrete:False\u003e\nplace packets in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in a tray 2- close the first aid box 3- put the tray on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: place packets in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box Q: immediate next step? \u003cPRED\u003eA: place packets in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12305936117534805736.mp4"}
+{"uid":"3339379853255148549","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sachets on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sachets on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sachets on the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box Q: immediate next step? \u003cPRED\u003eA: put the sachets on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sachets on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box Q: next 5 steps? \u003cPRED\u003eA: 1- put the sachets on the tray 2- close the first aid box 3- put the tray on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: put the sachets on the tray\n\u003c/PRED\u003e","video":"12545365628798300206.mp4"}
+{"uid":"10937154933304380282","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":"2036806478957179735.mp4"}
+{"uid":"2114343262100718965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5765229001598668871.mp4"}
+{"uid":"12839000740127370742","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl 8- Place the sponge in the stand 9- Place the floor cleaning sponge in the stand 10- Place the brush on the table 11- Place the glass bowl in the stand 12- Place the brush in the bowl 13- place the flask in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl 8- Place the sponge in the stand 9- Place the floor cleaning sponge in the stand 10- Place the brush on the table 11- Place the glass bowl in the stand 12- Place the brush in the bowl 13- place the flask 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: place the flask in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the flask 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":"11493002232020081920.mp4"}
+{"uid":"9435821530685927630","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray 3- close the first aid box Q: immediate next step? \u003cPRED\u003eA: pickup the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: pickup the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray 3- close the first aid box Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the tray 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8905055661701463253.mp4"}
+{"uid":"8913988450374116601","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: close the first aid box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the first aid box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the first aid box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the first aid box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray Q: immediate next step? \u003cPRED\u003eA: close the first aid box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- close the first aid box 2- put the tray on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the first aid box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9697665448450290392.mp4"}
+{"uid":"10374358621380012393","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":"17772036174658517406.mp4"}
+{"uid":"8270535344518469365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14812012222291627320.mp4"}
+{"uid":"16422979191985457101","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the first aid box door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- close the first aid box door 2- put the tray on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: close the first aid box door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the first aid box door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the first aid box door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray Q: immediate next step? \u003cPRED\u003eA: close the first aid box door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the first aid box door\n\u003c/PRED\u003e","video":"16210213458888166444.mp4"}
+{"uid":"8267424633525911462","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Close the door 2- put the tray on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e","video":"9782803353346598482.mp4"}
+{"uid":"3167090867767293666","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the yellow packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10918543311395738110.mp4"}
+{"uid":"14868893987343579832","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packets in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packets in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17550276883331528908.mp4"}
+{"uid":"9496750570486003056","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the bowl 2- Place the yellow packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13121075870225062451.mp4"}
+{"uid":"3121479252941751552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic cover in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14250082406742109695.mp4"}
+{"uid":"17094758611963413436","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: open the first aid box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the first aid box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the first aid box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the first aid box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the first aid box 2- put the sachets on the tray 3- close the first aid box 4- put the tray on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the first aid box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the first aid box\n\u003c/PRED\u003e","video":"6800842492344295242.mp4"}
+{"uid":"14368606442351104588","text":"\u003ctask:success:discrete:True\u003e\nKeep the packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Keep the packets in the tray\n\u003c/PRED\u003e","video":"8554452423925541279.mp4"}
+{"uid":"3497850111595787832","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":"10973191671429627200.mp4"}
+{"uid":"11457640288934403409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the bottom most indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7881218475384148600.mp4"}
+{"uid":"17635602816223880524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nKeep the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1263976701168477078.mp4"}
+{"uid":"15044152176117702825","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: open the lock\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the lock 2- put the sachets on the tray 3- close the first aid box 4- put the tray on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lock\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lock Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lock\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lock Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the lock\n\u003c/PRED\u003e","video":"1849560741114154201.mp4"}
+{"uid":"11709413796483003618","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the bowl 2- Place the yellow packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the sponge in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e","video":"4473642217606336331.mp4"}
+{"uid":"18202570839372804294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nseparate toy boat train Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4045027719494174345.mp4"}
+{"uid":"2238149588935643451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8574419250213501119.mp4"}
+{"uid":"3482520683050058295","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the yellow packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"189289051085547315.mp4"}
+{"uid":"4616419229452335373","text":"\u003ctask:success:discrete:True\u003e\nPlace the brush in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brush in the bowl\n\u003c/PRED\u003e","video":"2128334842589235345.mp4"}
+{"uid":"7282604294086754024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the clip in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16364596869502961439.mp4"}
+{"uid":"13379664918452304305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18197996680631787791.mp4"}
+{"uid":"9308105667463779314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic cup on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5423234348159001503.mp4"}
+{"uid":"3194220140878830183","text":"\u003ctask:success:discrete:True\u003e\nopen the first aid box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the first aid box\n\u003c/PRED\u003e","video":"17520412139576444063.mp4"}
+{"uid":"3762869199736834511","text":"\u003ctask:success:discrete:True\u003e\nPlace the white packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white packet in the bowl\n\u003c/PRED\u003e","video":"4901762600738412389.mp4"}
+{"uid":"8873360420334298897","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":"11942491465550646009.mp4"}
+{"uid":"16935783578711748669","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sachets on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sachets on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14146904849745593110.mp4"}
+{"uid":"8339687427153846111","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the first aid box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the first aid box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2101890830679155842.mp4"}
+{"uid":"3564873157725003170","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl 8- Place the sponge in the stand Q: immediate next step? \u003cPRED\u003eA: Place the floor cleaning sponge in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the floor cleaning sponge in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl 8- Place the sponge in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the floor cleaning sponge in the stand 2- Place the brush on the table 3- Place the glass bowl in the stand 4- Place the brush in the bowl 5- place the flask in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the floor cleaning sponge in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Place the floor cleaning sponge in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the floor cleaning sponge in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the floor cleaning sponge in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"923168005751317080.mp4"}
+{"uid":"18185514033192979421","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tray on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray 3- close the first aid box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tray on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray 3- close the first aid box Q: immediate next step? \u003cPRED\u003eA: Put the tray on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: Put the tray on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tray on the table\n\u003c/PRED\u003e","video":"10489343706610420567.mp4"}
+{"uid":"16841429340252929491","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl 8- Place the sponge in the stand 9- Place the floor cleaning sponge in the stand 10- Place the brush on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the glass bowl in the stand 2- Place the brush in the bowl 3- place the flask in the stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the glass bowl in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl 8- Place the sponge in the stand 9- Place the floor cleaning sponge in the stand 10- Place the brush on the table Q: immediate next step? \u003cPRED\u003eA: Place the glass bowl in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the glass bowl in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the glass bowl in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the glass bowl in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Place the glass bowl in the stand\n\u003c/PRED\u003e","video":"10228346477571620316.mp4"}
+{"uid":"10036497066851234073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12619010512094899977.mp4"}
+{"uid":"15559020104746770487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green pen into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13321029339059990917.mp4"}
+{"uid":"3398561910311646203","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tray on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray 3- close the first aid box 4- Put the tray on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray 3- close the first aid box 4- Put the tray on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13877878478821758059.mp4"}
+{"uid":"4416212127121525988","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the white packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"827356580549418945.mp4"}
+{"uid":"17330421384261963419","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray 3- close the first aid box 4- put the tray on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray 3- close the first aid box 4- put the tray on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tray on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15446392693969395403.mp4"}
+{"uid":"18140498281534144604","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the yellow packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16295752598807764536.mp4"}
+{"uid":"14340571885836591781","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: place tray on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray 3- close the first aid box Q: immediate next step? \u003cPRED\u003eA: place tray on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place tray on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place tray on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace tray on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray 3- close the first aid box Q: next 5 steps? \u003cPRED\u003eA: 1- place tray on a table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace tray on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15538213900793922168.mp4"}
+{"uid":"470978068622244201","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1801577612487397306.mp4"}
+{"uid":"14712621127492344828","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: Keep the packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Keep the packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Keep the packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box Q: next 5 steps? \u003cPRED\u003eA: 1- Keep the packets in the tray 2- close the first aid box 3- put the tray on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nKeep the packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nKeep the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box Q: immediate next step? \u003cPRED\u003eA: Keep the packets in the tray\n\u003c/PRED\u003e","video":"7880527400455487211.mp4"}
+{"uid":"3189835437574608535","text":"\u003ctask:success:discrete:True\u003e\nPlace the floor cleaning sponge 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 floor cleaning sponge in the stand\n\u003c/PRED\u003e","video":"6933736060253172850.mp4"}
+{"uid":"14440438313576446854","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brush in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brush in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl 8- Place the sponge in the stand 9- Place the floor cleaning sponge in the stand 10- Place the brush on the table 11- Place the glass bowl in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brush in the bowl 2- place the flask in the stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brush in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl 8- Place the sponge in the stand 9- Place the floor cleaning sponge in the stand 10- Place the brush on the table 11- Place the glass bowl in the stand Q: immediate next step? \u003cPRED\u003eA: Place the brush in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brush in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Place the brush in the bowl\n\u003c/PRED\u003e","video":"12106839777580859947.mp4"}
+{"uid":"1180166263649133274","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the bowl 2- Place the yellow packet in the bowl 3- Place the yellow packet in the bowl 4- Place the sponge in the stand 5- Place the floor cleaning sponge in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e","video":"15974324397029266946.mp4"}
+{"uid":"17832480230118496402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3576106803941888081.mp4"}
+{"uid":"10381610193801804300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7966425866933610980.mp4"}
+{"uid":"2109479564504721441","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10322130241176877847.mp4"}
+{"uid":"10062246202585478148","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the bowl 2- Place the sponge in the stand 3- Place the floor cleaning sponge in the stand 4- Place the brush on the table 5- Place the glass bowl in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e","video":"12693564177601260179.mp4"}
+{"uid":"3511202488428644530","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the bowl 2- Place the yellow packet in the bowl 3- Place the sponge in the stand 4- Place the floor cleaning sponge in the stand 5- Place the brush on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the bowl\n\u003c/PRED\u003e","video":"11900670423611709855.mp4"}
+{"uid":"15277948164260646110","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":"8385288400335087926.mp4"}
+{"uid":"15168646011972049778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5499196551939211470.mp4"}
+{"uid":"6613728351589741360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3682874989634911478.mp4"}
+{"uid":"2829347880097257951","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the first aid box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the first aid box 2- put the sachets on the tray 3- close the first aid box 4- put the tray on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the first aid box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the first aid box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the first aid box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the first aid box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: Open the first aid box\n\u003c/PRED\u003e","video":"2743227850123237953.mp4"}
+{"uid":"7791306325644465892","text":"\u003ctask:success:discrete:False\u003e\nPlace the white packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet in the bowl\n\u003c/PRED\u003e","video":"13439430512563904663.mp4"}
+{"uid":"9108851980398454557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7386383996107894369.mp4"}
+{"uid":"752644497725235496","text":"\u003ctask:success:discrete:True\u003e\nPlace the glass bowl 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 glass bowl in the stand\n\u003c/PRED\u003e","video":"285193251992919.mp4"}
+{"uid":"15858427888678198548","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lock\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the lock 2- put the sachets on the tray 3- close the first aid box 4- put the tray on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the lock\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lock\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: open the lock\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lock Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11866022003227702090.mp4"}
+{"uid":"185476883904679877","text":"\u003ctask:success:discrete:False\u003e\nPlace the brush on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl 8- Place the sponge in the stand 9- Place the floor cleaning sponge in the stand Q: immediate next step? \u003cPRED\u003eA: Place the brush on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl 8- Place the sponge in the stand 9- Place the floor cleaning sponge in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brush on the table 2- Place the glass bowl in the stand 3- Place the brush in the bowl 4- place the flask in the stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brush on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brush on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Place the brush on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brush on the table\n\u003c/PRED\u003e","video":"18435711943163003146.mp4"}
+{"uid":"15042442793281500663","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet in the bowl 2- Place the yellow packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2561538622467107080.mp4"}
+{"uid":"9624460733127480294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knife in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3823319233911136766.mp4"}
+{"uid":"11283349819810632643","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the first aid box door 2- put the sachets on the tray 3- close the first aid box 4- put the tray on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the first aid box door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the first aid box door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the first aid box door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the first aid box door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: open the first aid box door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the first aid box door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17250810918183372083.mp4"}
+{"uid":"16129235782784038639","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sponge in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the sponge 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":"1520499347885628717.mp4"}
+{"uid":"2091966805901680393","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl 8- Place the sponge in the stand 9- Place the floor cleaning sponge in the stand 10- Place the brush on the table 11- Place the glass bowl in the stand 12- Place the brush in the bowl Q: immediate next step? \u003cPRED\u003eA: place the flask in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the flask in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl 8- Place the sponge in the stand 9- Place the floor cleaning sponge in the stand 10- Place the brush on the table 11- Place the glass bowl in the stand 12- Place the brush in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the flask in the stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: place the flask in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the flask in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the flask in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the flask in the stand\n\u003c/PRED\u003e","video":"5066765549498055061.mp4"}
+{"uid":"4342356439236544196","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the sponge in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sponge in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. Q: immediate next step? \u003cPRED\u003eA: Place the sponge in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in the bowl then place the kitchen supplies into the holder. last 20 steps: 1- Place the white packet in the bowl 2- Place the white packet in the bowl 3- Place the yellow packet in the bowl 4- Place the yellow packet in the bowl 5- Place the yellow packet in the bowl 6- Place the yellow packet in the bowl 7- Place the yellow packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sponge in the stand 2- Place the floor cleaning sponge in the stand 3- Place the brush on the table 4- Place the glass bowl in the stand 5- Place the brush in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sponge in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sponge in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sponge in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10779003261151461979.mp4"}
+{"uid":"8871913639796110479","text":"\u003ctask:success:discrete:False\u003e\nput the tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray 3- close the first aid box Q: immediate next step? \u003cPRED\u003eA: put the tray on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk. last 20 steps: 1- open the first aid box 2- put the sachets on the tray 3- close the first aid box Q: next 5 steps? \u003cPRED\u003eA: 1- put the tray on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tray on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab some packs of Excedrin and take them to erics desk Q: immediate next step? \u003cPRED\u003eA: put the tray on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tray on the table\n\u003c/PRED\u003e","video":"3935432958074067878.mp4"}
+{"uid":"2534693368499891286","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":"7454420903465903441.mp4"}
+{"uid":"2096994609579487059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2806847711841250956.mp4"}
+{"uid":"3694530346112567207","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":"4371968141869682397.mp4"}
+{"uid":"8834048720710318080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the triangle object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4377994015506300394.mp4"}
+{"uid":"17941872147783292933","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15084945932226925634.mp4"}
+{"uid":"5112585718363035826","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the stationary holder 2- drop the pen into the holder 3- drop the pen into the holder 4- drop the pen into the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the stationary holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in the stationary holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10672815471357693049.mp4"}
+{"uid":"17257041895433499276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPun a chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6846422435357221711.mp4"}
+{"uid":"10416534574124649354","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the red pen into the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4393280206091232285.mp4"}
+{"uid":"16660203098297068919","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e","video":"13554971479354049452.mp4"}
+{"uid":"4001267894140351398","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen from the table 2- drop the pen into the holder 3- drop the pen into the holder 4- drop the pen into the holder 5- drop the pen into the holder\n\u003c/PRED\u003e","video":"3478891048739950843.mp4"}
+{"uid":"17101447960659982000","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6860646605212602618.mp4"}
+{"uid":"6915782228667376597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"354553932903623926.mp4"}
+{"uid":"9973344443875028437","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- drop the pen into the holder 8- put the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- drop the pen into the holder 8- put the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13107820097452771295.mp4"}
+{"uid":"11166522458971522707","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2847421101872562425.mp4"}
+{"uid":"14869534325297971879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red unreal packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"737250247809710288.mp4"}
+{"uid":"11092116056488487201","text":"\u003ctask:success:discrete:True\u003e\nput the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e","video":"12683898146167541186.mp4"}
+{"uid":"11969278706218675576","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4898312557687171756.mp4"}
+{"uid":"10503678374761913176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the potted plant in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5688041622291963827.mp4"}
+{"uid":"12610893879645896468","text":"\u003ctask:success:discrete:False\u003e\nPlace the pen in the stationary holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the stationary holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the stationary holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e","video":"3185523971125865635.mp4"}
+{"uid":"9984088956623709884","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen into the pen holder 2- drop the pen into the holder 3- drop the pen into the holder 4- done\n\u003c/PRED\u003e","video":"5133814139973720143.mp4"}
+{"uid":"5508860641872749538","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":"10626911099687523532.mp4"}
+{"uid":"5538862478203217849","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the red pen into the pen holder 2- drop the pen into the holder 3- Pick up the pen from the table 4- drop the pen into the holder 5- drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8671955327049159055.mp4"}
+{"uid":"13729970873894580457","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the holder 2- drop the pen into the holder 3- drop the pen into the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e","video":"10821258684365590111.mp4"}
+{"uid":"18281302207783463414","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e","video":"5317703822769084814.mp4"}
+{"uid":"3749770775163025703","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13540190399118900354.mp4"}
+{"uid":"11369818042920695339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16328929569307498429.mp4"}
+{"uid":"7809152600610651902","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":"5233134936109617573.mp4"}
+{"uid":"16427196676145261278","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the holder 2- drop the pen into the holder 3- Pick up the pen from the table 4- drop the pen into the holder 5- drop the pen into the holder\n\u003c/PRED\u003e","video":"17746087203798429473.mp4"}
+{"uid":"5959174689536867417","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen into the pen holder 2- drop the pen into the holder 3- drop the pen into the holder 4- drop the pen into the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e","video":"6246095506381718598.mp4"}
+{"uid":"18070604878847593209","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the tea boxes from the rack Q: immediate next step? \u003cPRED\u003eA: put tea box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the tea boxes from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put tea box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tea box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tea box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tea box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tea box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the tea boxes from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put tea box on the table 2- put tea box on the table 3- done\n\u003c/PRED\u003e","video":"4121395827019043109.mp4"}
+{"uid":"869960917949385248","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the stationary holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the stationary holder 2- Pick up the pen from the table 3- drop the pen into the holder 4- drop the pen into the holder 5- drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the stationary holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the stationary holder\n\u003c/PRED\u003e","video":"11557834018446764864.mp4"}
+{"uid":"2124574030191257067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11447224542505368640.mp4"}
+{"uid":"13512167252239391058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5408778150412649760.mp4"}
+{"uid":"496917396354636209","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5279502155311690726.mp4"}
+{"uid":"6803994599872140541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17223997843724537293.mp4"}
+{"uid":"2018635120948440564","text":"\u003ctask:success:discrete:True\u003e\nput the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e","video":"1622516184553374322.mp4"}
+{"uid":"17498257534257009199","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the tea boxes from the rack. last 20 steps: 1- put tea box on the table Q: immediate next step? \u003cPRED\u003eA: put tea box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the tea boxes from the rack Q: immediate next step? \u003cPRED\u003eA: put tea box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tea box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tea box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the tea boxes from the rack. last 20 steps: 1- put tea box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put tea box on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tea box on the table\n\u003c/PRED\u003e","video":"3185738955306720435.mp4"}
+{"uid":"938427730610031365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana on the large baby pink plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14336329347967069134.mp4"}
+{"uid":"8783648234636987685","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18128764045648619631.mp4"}
+{"uid":"16905218705240755924","text":"\u003ctask:success:discrete:True\u003e\nput the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e","video":"1495363751639270413.mp4"}
+{"uid":"12195854913090989160","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":"8445221289230255538.mp4"}
+{"uid":"178719538563386895","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- drop the pen into the holder 8- Place the pen in the stationary holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen in the stationary holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- drop the pen into the holder 8- Place the pen in the stationary holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e","video":"11825345250349555484.mp4"}
+{"uid":"8831451844717318514","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16908089047823446582.mp4"}
+{"uid":"16485007660097702830","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e","video":"7719932827620252069.mp4"}
+{"uid":"13935026008810511640","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the holder 2- done\n\u003c/PRED\u003e","video":"16923933221269474425.mp4"}
+{"uid":"7923227795452403070","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the tea boxes from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tea box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the tea boxes from the rack. last 20 steps: 1- put tea box on the table 2- put tea box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the tea boxes from the rack. last 20 steps: 1- put tea box on the table 2- put tea box on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tea box on the table\n\u003c/PRED\u003e","video":"1979297948386438141.mp4"}
+{"uid":"3941510807377842957","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen from the table 2- Pick up the pen from the table 3- drop the pen into the holder 4- drop the pen into the holder 5- drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e","video":"4641599863316181279.mp4"}
+{"uid":"9437073364704918525","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the holder 2- Pick up the pen from the table 3- drop the pen into the holder 4- drop the pen into the holder 5- drop the pen into the holder\n\u003c/PRED\u003e","video":"5514420832077761080.mp4"}
+{"uid":"10864782318583558314","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen into the pen holder 2- Pick up the pen from the table 3- drop the pen into the holder 4- drop the pen into the holder 5- drop the pen into the holder\n\u003c/PRED\u003e","video":"733043044349584259.mp4"}
+{"uid":"15636923890000168660","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":"12351525824684955815.mp4"}
+{"uid":"7308969887139194548","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the stationary holder 2- drop the pen into the holder 3- Pick up the pen from the table 4- drop the pen into the holder 5- drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the stationary holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in the stationary holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e","video":"1230655973650984749.mp4"}
+{"uid":"17162498588954093277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop wires 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":"8375492840842659787.mp4"}
+{"uid":"489825443196466746","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":"9464402479442622018.mp4"}
+{"uid":"8004223474119272025","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the stationary holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in the stationary holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the stationary holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11111088791881159310.mp4"}
+{"uid":"8709998038184600907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10909724215117772492.mp4"}
+{"uid":"16960937001193391257","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the holder 2- drop the pen into the holder 3- drop the pen into the holder 4- drop the pen into the holder 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e","video":"17661454434892922590.mp4"}
+{"uid":"7026729569133794507","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen into the pen holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e","video":"10019400152691592121.mp4"}
+{"uid":"3842774955893529997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7270690238342000202.mp4"}
+{"uid":"750127961742991304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3943973414227437004.mp4"}
+{"uid":"17567560001043466671","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- drop the pen into the holder 8- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- drop the pen into the holder 8- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3432583753521638140.mp4"}
+{"uid":"7254131506622806819","text":"\u003ctask:success:discrete:False\u003e\nPlace the pen in the stationary holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the stationary holder 2- drop the pen into the holder 3- drop the pen into the holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the stationary holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e","video":"6361157024108892006.mp4"}
+{"uid":"11975128202920152363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7074597008322889752.mp4"}
+{"uid":"15652605553969632577","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e","video":"4628201926406838447.mp4"}
+{"uid":"8669090691683134481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana from basket to big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13018148330686897636.mp4"}
+{"uid":"15674567264621162830","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the holder 2- drop the pen into the holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e","video":"13871097058147323572.mp4"}
+{"uid":"1204347532865631026","text":"\u003ctask:success:discrete:False\u003e\nPlace the pen in the stationary holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the stationary holder 2- drop the pen into the holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the stationary holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the stationary holder\n\u003c/PRED\u003e","video":"9780113537190344201.mp4"}
+{"uid":"10434910371410538302","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- put the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- put the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e","video":"5347946466986901165.mp4"}
+{"uid":"4819572561805241687","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place all writing tools into the basket. Q: immediate next step? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place all writing tools into the basket. last 20 steps: 1- drop the pen into the holder 2- put the red pen into the pen holder 3- drop the pen into the holder 4- Pick up the pen from the table 5- drop the pen into the holder 6- drop the pen into the holder 7- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the red pen into the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13441901197062286759.mp4"}
+{"uid":"12386612022757329141","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pink candy in a glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5758173064622109252.mp4"}
+{"uid":"4461529694861879098","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put yellow marker in penholder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: Put yellow marker in penholder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut yellow marker in penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 back in the mesh container. last 20 steps: 1- place the pen holder upright Q: next 5 steps? \u003cPRED\u003eA: 1- Put yellow marker in penholder 2- put the black marker in the pen stand 3- put the blue marker in the pen stand 4- take the dark blue marker to the pen stand 5- put the dark blue marker  in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright Q: immediate next step? \u003cPRED\u003eA: Put yellow marker in penholder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut yellow marker in penholder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put yellow marker in penholder\n\u003c/PRED\u003e","video":"884674021565717963.mp4"}
+{"uid":"396152625804735785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7349919028177158082.mp4"}
+{"uid":"12732357629898871878","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: put the black marker in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black marker in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the black marker in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black marker in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black marker in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the black marker in the pen stand 2- put the blue marker in the pen stand 3- take the dark blue marker to the pen stand 4- put the dark blue marker  in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black marker in the pen stand\n\u003c/PRED\u003e","video":"3066912472548673187.mp4"}
+{"uid":"11935389304827887127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14101659367666849531.mp4"}
+{"uid":"10177933528476977870","text":"\u003ctask:success:discrete:True\u003e\nplace the black marker in the penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black marker in the penholder\n\u003c/PRED\u003e","video":"8133997143830524081.mp4"}
+{"uid":"5651805085371359617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the notebook on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1291791619349256422.mp4"}
+{"uid":"10180592789395343608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17675712051776802281.mp4"}
+{"uid":"3966899857023549164","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the black marker in the pen stand 3- put the blue marker in the pen stand 4- take the dark blue marker to the pen stand 5- put the dark blue marker  in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow marker in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow marker in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3905593455008468007.mp4"}
+{"uid":"3710591920335709648","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put yellow marker in penholder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut yellow marker in penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3754788672393529716.mp4"}
+{"uid":"5486609385556181102","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put penholder upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut penholder upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17704192995187250377.mp4"}
+{"uid":"684780081211206647","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: take the dark blue marker to the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake the dark blue marker to the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the dark blue marker to the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take the dark blue marker to the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take the dark blue marker to the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- take the dark blue marker to the pen stand 2- put the dark blue marker  in the pen stand 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand Q: immediate next step? \u003cPRED\u003eA: take the dark blue marker to the pen stand\n\u003c/PRED\u003e","video":"18308210490949795775.mp4"}
+{"uid":"7616076456915499214","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10793178490388834800.mp4"}
+{"uid":"9489526151075583424","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker in the pen holder 2- take the dark blue marker to the pen stand 3- put the dark blue marker  in the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e","video":"4076878034530550562.mp4"}
+{"uid":"8675397574945538723","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"8756075865736112289.mp4"}
+{"uid":"2874129169506590901","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black pen in the penholder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the black pen in the penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14436983681358704054.mp4"}
+{"uid":"15262342294714756803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the bins Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8364330652026861508.mp4"}
+{"uid":"7446188694275773818","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black marker in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black marker in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"883484680302640484.mp4"}
+{"uid":"18018921633979573964","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the dates into the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6751692587688568395.mp4"}
+{"uid":"17079729502868623292","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue marker in penholder 2- take the dark blue marker to the pen stand 3- put the dark blue marker  in the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue marker in penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue marker in penholder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand Q: immediate next step? \u003cPRED\u003eA: put blue marker in penholder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue marker in penholder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 back in the mesh container Q: immediate next step? \u003cPRED\u003eA: put blue marker in penholder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue marker in penholder\n\u003c/PRED\u003e","video":"617634735285474642.mp4"}
+{"uid":"1756638709071296570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the fruits Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"390725336250013208.mp4"}
+{"uid":"16031592807851441079","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand 6- place the expo pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the expo pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the expo pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand 6- place the expo pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11804289920001882503.mp4"}
+{"uid":"9032774245551058612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the  yellow  marker in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13742570811009715956.mp4"}
+{"uid":"12625272852336679182","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen holder in proper position\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen holder in proper position Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3949938984499630856.mp4"}
+{"uid":"4449374619774411712","text":"\u003ctask:success:discrete:False\u003e\nplace the black pen in the penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: place the black pen in the penholder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand Q: immediate next step? \u003cPRED\u003eA: place the black pen in the penholder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen in the penholder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen in the penholder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen in the penholder 2- put the blue marker in the pen stand 3- take the dark blue marker to the pen stand 4- put the dark blue marker  in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen in the penholder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4485391717993566495.mp4"}
+{"uid":"7838586800228979056","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow marker in the pen holder 2- put the black marker in the pen stand 3- put the blue marker in the pen stand 4- take the dark blue marker to the pen stand 5- put the dark blue marker  in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15240068428020109125.mp4"}
+{"uid":"12785318902347740978","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut black marker in penholder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put black marker in penholder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put black marker in penholder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put black marker in penholder 2- put the blue marker in the pen stand 3- take the dark blue marker to the pen stand 4- put the dark blue marker  in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: Put black marker in penholder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut black marker in penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: Put black marker in penholder\n\u003c/PRED\u003e","video":"2305263623466319472.mp4"}
+{"uid":"11995880714027357024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the battery in the charger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11263129856048322557.mp4"}
+{"uid":"11141001652729488304","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow marker in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow marker in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow marker in the pen stand 2- put the pen in the pen stand 3- put the black marker in the pen stand 4- put the blue marker in the pen stand 5- take the dark blue marker to the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow marker in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow marker in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1270312854435369713.mp4"}
+{"uid":"8021360378516157693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1477673210957900825.mp4"}
+{"uid":"4436106480732884629","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork spoons in left glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13553961479472794283.mp4"}
+{"uid":"5841745075869539760","text":"\u003ctask:success:discrete:True\u003e\nPut black marker in penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put black marker in penholder\n\u003c/PRED\u003e","video":"7389725645294378308.mp4"}
+{"uid":"1782101206154711968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13126865450422122025.mp4"}
+{"uid":"18279137175112523948","text":"\u003ctask:success:discrete:True\u003e\nput the dark blue marker  in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the dark blue marker  in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand 6- take the dark blue marker to the pen stand 7- put the dark blue marker  in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand 6- take the dark blue marker to the pen stand 7- put the dark blue marker  in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17978367519326370087.mp4"}
+{"uid":"17651657089926072236","text":"\u003ctask:success:discrete:True\u003e\nput the yellow marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow marker in the pen holder\n\u003c/PRED\u003e","video":"18253925668907893027.mp4"}
+{"uid":"16686662187277288956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13280237264670788161.mp4"}
+{"uid":"104986857544715089","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pen holder in proper position\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen holder in proper position 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: place the pen holder in proper position\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen holder in proper position\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen holder in proper position Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen holder in proper position Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen holder in proper position\n\u003c/PRED\u003e","video":"13461321874578139060.mp4"}
+{"uid":"12149460004298206924","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: place the black marker in the penholder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the black marker in the penholder 2- put the blue marker in the pen stand 3- take the dark blue marker to the pen stand 4- put the dark blue marker  in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: place the black marker in the penholder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black marker in the penholder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black marker in the penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black marker in the penholder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black marker in the penholder\n\u003c/PRED\u003e","video":"5980012685735206648.mp4"}
+{"uid":"15415408009413641239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2323535441945095815.mp4"}
+{"uid":"3801351524673108088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1661294813006803358.mp4"}
+{"uid":"17806247016406590754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12399003196608158974.mp4"}
+{"uid":"15681266387730748170","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue marker in penholder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue marker in penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2506506868282330078.mp4"}
+{"uid":"11469813757363728916","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the expo pen in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand Q: immediate next step? \u003cPRED\u003eA: place the expo pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the expo pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: place the expo pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the expo pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the expo pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the expo pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4187683996774889061.mp4"}
+{"uid":"6767769147034014634","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: Put blue marker in the penholder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put blue marker in the penholder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put blue marker in the penholder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut blue marker in the penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put blue marker in the penholder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand Q: immediate next step? \u003cPRED\u003eA: Put blue marker in the penholder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut blue marker in the penholder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5030230198743598605.mp4"}
+{"uid":"3983604325519743659","text":"\u003ctask:success:discrete:True\u003e\nput the blue marker in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue marker in the pen stand\n\u003c/PRED\u003e","video":"15936644468526116114.mp4"}
+{"uid":"8359398106867856088","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put penholder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut penholder upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put penholder upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put penholder upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: Put penholder upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put penholder upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut penholder upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"746932312542044686.mp4"}
+{"uid":"2972907013040949125","text":"\u003ctask:success:discrete:False\u003e\nput the dark blue marker  in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: put the dark blue marker  in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the dark blue marker  in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the dark blue marker  in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the dark blue marker  in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand 6- take the dark blue marker to the pen stand Q: immediate next step? \u003cPRED\u003eA: put the dark blue marker  in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand 6- take the dark blue marker to the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the dark blue marker  in the pen stand 2- done\n\u003c/PRED\u003e","video":"5211017815197803095.mp4"}
+{"uid":"3348219324369467690","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker in the pen stand 2- take the dark blue marker to the pen stand 3- put the dark blue marker  in the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue marker in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue marker in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10968759752789407855.mp4"}
+{"uid":"5499692281539334663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5900255092319935958.mp4"}
+{"uid":"1385292305613024089","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put blue marker in the penholder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut blue marker in the penholder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand 6- Put blue marker in the penholder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand 6- Put blue marker in the penholder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"16316934879228330109.mp4"}
+{"uid":"10012478822180317148","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":"16908342928988716712.mp4"}
+{"uid":"2839350214247471710","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen holder upright 2- put the yellow marker in the pen stand 3- put the pen in the pen stand 4- put the black marker in the pen stand 5- put the blue marker in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen holder upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen holder upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen holder upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pen holder upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils back in the mesh container Q: immediate next step? \u003cPRED\u003eA: place the pen holder upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen holder upright\n\u003c/PRED\u003e","video":"14984027529892779814.mp4"}
+{"uid":"16164155990302174092","text":"\u003ctask:success:discrete:True\u003e\nplace the pen holder upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen holder upright\n\u003c/PRED\u003e","video":"7526509532633310256.mp4"}
+{"uid":"13751819529495398119","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take the dark blue marker to the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntake the dark blue marker to the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13671849874271618336.mp4"}
+{"uid":"2144543274192285994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the tissue box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"949491296031872110.mp4"}
+{"uid":"10082721545598298628","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14146268327983429203.mp4"}
+{"uid":"11138204042984764462","text":"\u003ctask:success:discrete:False\u003e\nput plastic glass on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put plastic glass on table 2- Throw straw in dustbin 3- put plastic glass on table 4- remove cap 5- pour water in wash basin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put plastic glass on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put plastic glass on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput plastic glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away Q: immediate next step? \u003cPRED\u003eA: put plastic glass on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put plastic glass on table\n\u003c/PRED\u003e","video":"1432183347033172770.mp4"}
+{"uid":"3206916433151077811","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":"8477925206354815008.mp4"}
+{"uid":"13927264410467395135","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"7291693361522718152.mp4"}
+{"uid":"984871957344907293","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- drop the pen into the pen holder 3- drop the pen into the pen holder 4- Put the pen in the pen holder 5- drop the pen into the pen holder\n\u003c/PRED\u003e","video":"4791033578651983928.mp4"}
+{"uid":"12221731866026059219","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- drop the pen into the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"16723469220429484783.mp4"}
+{"uid":"5044502673442507926","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen holder 2- drop the pen into the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"13447676987263850776.mp4"}
+{"uid":"585952842805943322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18318906448819830960.mp4"}
+{"uid":"9844489603622492710","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put plastic glass on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table 2- Throw straw in dustbin Q: immediate next step? \u003cPRED\u003eA: put plastic glass on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put plastic glass on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table 2- Throw straw in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put plastic glass on table 2- remove cap 3- pour water in wash basin 4- put cap in plastic glass 5- drop plastic bottle in dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away Q: immediate next step? \u003cPRED\u003eA: put plastic glass on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput plastic glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput plastic glass on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12055565369994468483.mp4"}
+{"uid":"12775119077959271089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the tissue packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16077735098150371933.mp4"}
+{"uid":"6918237618567773176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove cups to the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11830430407422221661.mp4"}
+{"uid":"15718030699904773635","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo near 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":"2459060285781782435.mp4"}
+{"uid":"13873954887474720649","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"7444759315178338598.mp4"}
+{"uid":"8537998779019422313","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1688482475022039802.mp4"}
+{"uid":"10386474684760596537","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour water in wash basin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour water in wash basin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10267873246191517787.mp4"}
+{"uid":"11865323821887217302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1255211519031936248.mp4"}
+{"uid":"5411220120642344842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10576328095729758750.mp4"}
+{"uid":"7365422181866424196","text":"\u003ctask:success:discrete:True\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e","video":"5836842964914820826.mp4"}
+{"uid":"2329195126362367600","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3579445657992181217.mp4"}
+{"uid":"820131534464198146","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"12211278277670814600.mp4"}
+{"uid":"10505815456476057793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tray  in shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11518395102560862506.mp4"}
+{"uid":"4743112747705478458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the coffee lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15547928941056445579.mp4"}
+{"uid":"11300387123574445100","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e","video":"10193720497379093432.mp4"}
+{"uid":"10967195530454717079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the popcorn packet on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11916745390088605581.mp4"}
+{"uid":"12958912411054885457","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- Put the pen in the pen holder 3- drop the pen into the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e","video":"5107275477242601510.mp4"}
+{"uid":"15416708032689455792","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away Q: immediate next step? \u003cPRED\u003eA: put cap in plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cap in plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table 2- Throw straw in dustbin 3- put plastic glass on table 4- remove cap 5- pour water in wash basin Q: next 5 steps? \u003cPRED\u003eA: 1- put cap in plastic glass 2- drop plastic bottle in dustbin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cap in plastic glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cap in plastic glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table 2- Throw straw in dustbin 3- put plastic glass on table 4- remove cap 5- pour water in wash basin Q: immediate next step? \u003cPRED\u003eA: put cap in plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cap in plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11952107301933193339.mp4"}
+{"uid":"2891515619392325907","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8415889908939562088.mp4"}
+{"uid":"4963134951063926535","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"8165974742359924001.mp4"}
+{"uid":"8926345575725475451","text":"\u003ctask:success:discrete:False\u003e\nPut the pen holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: Put the pen holder on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen holder on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pen holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4383711200236539349.mp4"}
+{"uid":"4640611890883226470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17608455176660132703.mp4"}
+{"uid":"10322821524364662651","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder 7- Put the pen in the pen holder 8- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder 7- Put the pen in the pen holder 8- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5325693406132421728.mp4"}
+{"uid":"4018247119988671785","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- drop the pen into the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"15176453576238683604.mp4"}
+{"uid":"8140823556474197669","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder 7- Put the pen in the pen holder 8- put blue pen in holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder 7- Put the pen in the pen holder 8- put blue pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"18103543748839673414.mp4"}
+{"uid":"18324620508137939889","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8507081357477076355.mp4"}
+{"uid":"6626500625108494217","text":"\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- Put the pen in the pen holder 3- drop the pen into the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder\n\u003c/PRED\u003e","video":"15821721684333366741.mp4"}
+{"uid":"3943107768031825876","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the right  blue pens from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10756262209832137917.mp4"}
+{"uid":"12005839802559027115","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen holder 2- drop the pen into the pen holder 3- drop the pen into the pen holder 4- Put the pen in the pen holder 5- drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"3261702593964953078.mp4"}
+{"uid":"557271195724832388","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7651061451449402048.mp4"}
+{"uid":"2942104460019302441","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"12852357877536022851.mp4"}
+{"uid":"1714720200623823510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16789375819878854373.mp4"}
+{"uid":"6932272755708135536","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- Put the pen in the pen holder 3- drop the pen into the pen holder 4- done\n\u003c/PRED\u003e","video":"8723516628205108300.mp4"}
+{"uid":"3182157018971766275","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16378431290548740565.mp4"}
+{"uid":"11536789288651280808","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3651844798746257307.mp4"}
+{"uid":"17294329958094640839","text":"\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- drop the pen into the pen holder 3- drop the pen into the pen holder 4- Put the pen in the pen holder 5- drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"7678323615460793418.mp4"}
+{"uid":"13262395749466764348","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- drop the pen into the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e","video":"9402047004260389909.mp4"}
+{"uid":"9398109545325053648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue object in the left box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17622908338868725683.mp4"}
+{"uid":"8805605943409766140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16994121117992026464.mp4"}
+{"uid":"18098771240178892903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5453274909988683520.mp4"}
+{"uid":"14830077767366715330","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- drop the pen into the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15814499994551627662.mp4"}
+{"uid":"1650558532010539456","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop plastic bottle in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop plastic bottle in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop plastic bottle in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table 2- Throw straw in dustbin 3- put plastic glass on table 4- remove cap 5- pour water in wash basin 6- put cap in plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop plastic bottle in dustbin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table 2- Throw straw in dustbin 3- put plastic glass on table 4- remove cap 5- pour water in wash basin 6- put cap in plastic glass Q: immediate next step? \u003cPRED\u003eA: drop plastic bottle in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop plastic bottle in dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away Q: immediate next step? \u003cPRED\u003eA: drop plastic bottle in dustbin\n\u003c/PRED\u003e","video":"8896394100092065033.mp4"}
+{"uid":"6118056293627463557","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder 7- Put the pen in the pen holder 8- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder 7- Put the pen in the pen holder 8- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16023110321800597760.mp4"}
+{"uid":"16868403696615453185","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen holder 2- drop the pen into the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"9112477323299920599.mp4"}
+{"uid":"7979048260047333805","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":"11824962423663083445.mp4"}
+{"uid":"4204310316054873041","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"10298838606947367713.mp4"}
+{"uid":"14744244530764479253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace three yellow candy on the table from the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17248634112877736518.mp4"}
+{"uid":"7344867890243725292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2371054053618576576.mp4"}
+{"uid":"5509064534603181884","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- Put the pen in the pen holder 3- drop the pen into the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"11152627762036940988.mp4"}
+{"uid":"13091277668683190717","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pen holder on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: place the pen holder on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen holder on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen holder on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen holder on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen holder on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen holder on table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder\n\u003c/PRED\u003e","video":"6029625987637974103.mp4"}
+{"uid":"1782613975785718707","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"13023914800583380139.mp4"}
+{"uid":"11108563976563743792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6938071970390981659.mp4"}
+{"uid":"13929681074179216895","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen holder 2- drop the pen into the pen holder 3- drop the pen into the pen holder 4- drop the pen into the pen holder 5- Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"14685046084913017017.mp4"}
+{"uid":"17370459329689160398","text":"\u003ctask:success:discrete:False\u003e\nremove cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: remove cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nremove cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table 2- Throw straw in dustbin 3- put plastic glass on table Q: immediate next step? \u003cPRED\u003eA: remove cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away Q: immediate next step? \u003cPRED\u003eA: remove cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table 2- Throw straw in dustbin 3- put plastic glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- remove cap 2- pour water in wash basin 3- put cap in plastic glass 4- drop plastic bottle in dustbin 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: remove cap\n\u003c/PRED\u003e","video":"15106923962162191685.mp4"}
+{"uid":"3968492134896917210","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e","video":"8640097786114827267.mp4"}
+{"uid":"4572686169939862240","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in holder 2- drop the pen into the pen holder 3- drop the pen into the pen holder 4- drop the pen into the pen holder 5- Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5607775459557074484.mp4"}
+{"uid":"9981987748306784993","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4499725545433846463.mp4"}
+{"uid":"11929778877239590961","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow straw in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away Q: immediate next step? \u003cPRED\u003eA: Throw straw in dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- Throw straw in dustbin 2- put plastic glass on table 3- remove cap 4- pour water in wash basin 5- put cap in plastic glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table Q: immediate next step? \u003cPRED\u003eA: Throw straw in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow straw in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw straw in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw straw in dustbin\n\u003c/PRED\u003e","video":"9096487745827108891.mp4"}
+{"uid":"2760254541548142319","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen holder 2- Put the pen in the pen holder 3- drop the pen into the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder\n\u003c/PRED\u003e","video":"8242819846930529778.mp4"}
+{"uid":"18433579702738485934","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: put holder on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put holder on the table\n\u003c/PRED\u003e","video":"15123485057376286169.mp4"}
+{"uid":"4129035637370415796","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen holder 2- Put the pen in the pen holder 3- drop the pen into the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9233500306608026995.mp4"}
+{"uid":"8044265498424470232","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder 7- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder 7- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen holder\n\u003c/PRED\u003e","video":"11008038137539363606.mp4"}
+{"uid":"10617415120576839563","text":"\u003ctask:success:discrete:True\u003e\nplace the pen holder on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen holder on table\n\u003c/PRED\u003e","video":"18145304461597713586.mp4"}
+{"uid":"12116613627124235553","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13278299278520843526.mp4"}
+{"uid":"17034815899561789276","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6835069310475806102.mp4"}
+{"uid":"4572112412707531556","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder 7- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder 7- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"3741201368732621753.mp4"}
+{"uid":"10508393928165574224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the coke can inside the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2325036736787068096.mp4"}
+{"uid":"7523426483461405280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake out the larger clip from the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9022433107521494779.mp4"}
+{"uid":"16556180862874190150","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table 2- Throw straw in dustbin 3- put plastic glass on table 4- remove cap 5- pour water in wash basin 6- put cap in plastic glass 7- drop plastic bottle in dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop plastic bottle in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table 2- Throw straw in dustbin 3- put plastic glass on table 4- remove cap 5- pour water in wash basin 6- put cap in plastic glass 7- drop plastic bottle in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop plastic bottle in dustbin\n\u003c/PRED\u003e","video":"3679798559786282034.mp4"}
+{"uid":"9896857655515370626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11096001716581758011.mp4"}
+{"uid":"3344598145968155570","text":"\u003ctask:success:discrete:True\u003e\nput plastic glass on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put plastic glass on table\n\u003c/PRED\u003e","video":"13776451355125348773.mp4"}
+{"uid":"17547587097576569998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13709400527821051888.mp4"}
+{"uid":"2121348098339544515","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop boat train into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7105451223740722722.mp4"}
+{"uid":"8867811696514395098","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9888373093499606244.mp4"}
+{"uid":"13645298588191847686","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder 7- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder 3- Put the pen in the pen holder 4- drop the pen into the pen holder 5- drop the pen into the pen holder 6- drop the pen into the pen holder 7- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- done\n\u003c/PRED\u003e","video":"11762175488661148824.mp4"}
+{"uid":"536400168305329570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pin 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":"4821727249082175850.mp4"}
+{"uid":"375200222268899112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1018746701048145961.mp4"}
+{"uid":"4274259335340378638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the paper bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7268308011696065086.mp4"}
+{"uid":"15072318758162142137","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table 2- Throw straw in dustbin 3- put plastic glass on table 4- remove cap Q: next 5 steps? \u003cPRED\u003eA: 1- pour water in wash basin 2- put cap in plastic glass 3- drop plastic bottle in dustbin 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour water in wash basin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour water in wash basin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour water in wash basin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away Q: immediate next step? \u003cPRED\u003eA: pour water in wash basin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour water in wash basin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the water anymore. Can you pour the water into the sink and then throw the cup away. last 20 steps: 1- put plastic glass on table 2- Throw straw in dustbin 3- put plastic glass on table 4- remove cap Q: immediate next step? \u003cPRED\u003eA: pour water in wash basin\n\u003c/PRED\u003e","video":"11028784844228296627.mp4"}
+{"uid":"18095554865809754480","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it. last 20 steps: 1- Put the pen holder on the table 2- Put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- drop the pen into the pen holder 3- drop the pen into the pen holder 4- drop the pen into the pen holder 5- Put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the small bin from the supply rack , place it on the table, then put all the blue pens on the table in it Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10974691893828965887.mp4"}
+{"uid":"7818416417598261563","text":"\u003ctask:success:discrete:True\u003e\nput plastic glass on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put plastic glass on table\n\u003c/PRED\u003e","video":"11468352536635708629.mp4"}
+{"uid":"12102737969219252805","text":"\u003ctask:success:discrete:True\u003e\nPick up the green packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the green packet\n\u003c/PRED\u003e","video":"3935549580106540828.mp4"}
+{"uid":"6013639073580451316","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":"11426749246518555479.mp4"}
+{"uid":"17526450525130775670","text":"\u003ctask:success:discrete:True\u003e\nplace the blue packet into the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue packet into the tray table\n\u003c/PRED\u003e","video":"3732319834107898693.mp4"}
+{"uid":"17886147742019257606","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the popcorn packet in white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the popcorn packet in white tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6475316666797501484.mp4"}
+{"uid":"11000669226955792415","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green packet in white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green packet in white tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the green packet in white tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Put the green packet in white tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green packet in white tray 2- Pick up the packet from the table 3- Place the packet in the tray 4- Pick up the popcorn packet 5- Put the popcorn packet in white tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green packet in white tray\n\u003c/PRED\u003e","video":"5412629452917913729.mp4"}
+{"uid":"3206350570122091279","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12173084116420839426.mp4"}
+{"uid":"10536616460943975360","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fish in the plastic box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fish in the plastic box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6026001832489537281.mp4"}
+{"uid":"17753120527195973607","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the green packet in white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the green packet in white tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6393056008518384845.mp4"}
+{"uid":"3390149244951464826","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green packet into the tray table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the green packet into the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4209886102357516371.mp4"}
+{"uid":"736731127854508490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16799052339614023617.mp4"}
+{"uid":"16833712948087505443","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8314015433269734113.mp4"}
+{"uid":"16562022636650835106","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue packet in white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue packet in white tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10354981323253286773.mp4"}
+{"uid":"1697152180057588343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16563969932206165578.mp4"}
+{"uid":"11458679577604590115","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake out a pen from the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17195351775562273397.mp4"}
+{"uid":"8966080668406599948","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":"11359619859855208581.mp4"}
+{"uid":"4085483098038978037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tissue paper in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15515776712179266047.mp4"}
+{"uid":"14394736326165717459","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the popcorn packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the popcorn packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the popcorn packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table Q: immediate next step? \u003cPRED\u003eA: Pick up the popcorn packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the popcorn packet 2- Put the popcorn packet in white tray 3- Pick up the packet from the table 4- place the green packet into the tray table 5- Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the popcorn packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the popcorn packet\n\u003c/PRED\u003e","video":"3351151406126739699.mp4"}
+{"uid":"5373502375865239902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chess coin in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2237655037550323813.mp4"}
+{"uid":"2393226148441860398","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Put the green packet in white tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green packet in white tray 2- Pick up the packet from the table 3- place the packet into the tray table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table Q: immediate next step? \u003cPRED\u003eA: Put the green packet in white tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green packet in white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green packet in white tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green packet in white tray\n\u003c/PRED\u003e","video":"10105869944787038852.mp4"}
+{"uid":"1902395148664990958","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the 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 up the packet from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the packet from the table 2- Put the popcorn packet in white tray 3- Pick up the packet from the table 4- place the green packet into the tray table 5- Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the 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: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e","video":"425373693093592092.mp4"}
+{"uid":"17941111691920391552","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: place the blue packet into the tray table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue packet into the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue packet into the tray table 2- Pick up the popcorn packet 3- Put the popcorn packet in white tray 4- Pick up the packet from the table 5- place the green packet into the tray table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the blue packet into the tray table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue packet into the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue packet into the tray table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue packet into the tray table\n\u003c/PRED\u003e","video":"6754813045691563748.mp4"}
+{"uid":"10261428729588061878","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17594540324525863777.mp4"}
+{"uid":"10674604422204256028","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box Q: immediate next step? \u003cPRED\u003eA: place the fish in the plastic box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fish in the plastic box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fish in the plastic box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fish in the plastic box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the fish in the plastic box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fish in the plastic box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the fish in the plastic box 2- Put the apple in the paper container 3- put the apple in the plastic box 4- done\n\u003c/PRED\u003e","video":"18169639050538450272.mp4"}
+{"uid":"7494775111125684318","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the paper container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple in the paper container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3215305279893978532.mp4"}
+{"uid":"9295624981063576550","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the popcorn packet in white tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the popcorn packet in white tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet Q: immediate next step? \u003cPRED\u003eA: Put the popcorn packet in white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the popcorn packet in white tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the popcorn packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet Q: next 5 steps? \u003cPRED\u003eA: 1- Put the popcorn packet in white tray 2- Pick up the packet from the table 3- place the green packet into the tray table 4- Pick up the packet from the table 5- place the packet into the tray table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Put the popcorn packet in white tray\n\u003c/PRED\u003e","video":"18091759203641237871.mp4"}
+{"uid":"10737666562462083736","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green packet 2- Pick up the packet from the table 3- place the packet into the tray table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the green packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the green packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray Q: immediate next step? \u003cPRED\u003eA: Pick up the green packet\n\u003c/PRED\u003e","video":"17780254989262728707.mp4"}
+{"uid":"14283467317639180915","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the thick blue pen in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1993877096258364895.mp4"}
+{"uid":"6710641337832034790","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e","video":"6529260237469890411.mp4"}
+{"uid":"7172017818001057830","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the green packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"920945805689503088.mp4"}
+{"uid":"12715992050468653494","text":"\u003ctask:success:discrete:True\u003e\nPut the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"18368853930385791100.mp4"}
+{"uid":"18010841241726526412","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brown packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brown packet from the table 2- Pick up the packet from the table 3- place the green packet into the tray table 4- Pick up the packet from the table 5- place the packet into the tray table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: pick up the brown packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the brown packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17432388450395037765.mp4"}
+{"uid":"16976127153256663082","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14944028902267311031.mp4"}
+{"uid":"3796801740118039223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16591539969101894504.mp4"}
+{"uid":"16909279434345405154","text":"\u003ctask:success:discrete:True\u003e\nPut the fish toy in the paper container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the fish toy in the paper container\n\u003c/PRED\u003e","video":"2769460578332586349.mp4"}
+{"uid":"15886595791415221367","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in white tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet in white tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in white tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in white tray 2- Pick up the popcorn packet 3- Put the popcorn packet in white tray 4- Pick up the packet from the table 5- place the green packet into the tray table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet in white tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16195376502313336420.mp4"}
+{"uid":"13830422142973411123","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray Q: immediate next step? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the packet from the table 2- place the green packet into the tray table 3- Pick up the packet from the table 4- place the packet into the tray table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2504758823601365082.mp4"}
+{"uid":"13001554514607303489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17703176867969520806.mp4"}
+{"uid":"12446242986565860101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife in 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":"18044810073504461576.mp4"}
+{"uid":"15937343002272109713","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the green packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the green packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10571086079332285730.mp4"}
+{"uid":"741110571299669907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4949577579940698673.mp4"}
+{"uid":"16711224670162962651","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fish toy in the paper container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the fish toy in the paper container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fish toy in the paper container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fish toy in the paper container 2- Put the apple in the paper container 3- put the apple in the plastic box 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box Q: immediate next step? \u003cPRED\u003eA: Put the fish toy in the paper container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fish toy in the paper container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fish toy in the paper container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1115918633446430603.mp4"}
+{"uid":"11003223843952006275","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the paper container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the paper container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box Q: immediate next step? \u003cPRED\u003eA: Put the apple in the paper container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: 1- Put the fish toy in the paper container Q: immediate next step? \u003cPRED\u003eA: Put the apple in the paper container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the paper container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the paper container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: 1- Put the fish toy in the paper container Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the paper container 2- put the apple in the plastic box 3- done\n\u003c/PRED\u003e","video":"7392777746611887403.mp4"}
+{"uid":"15018344979883376483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chip bag in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4214128917485781819.mp4"}
+{"uid":"6378376646373470726","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15119568654987681057.mp4"}
+{"uid":"8351476527820944683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2400375989753021455.mp4"}
+{"uid":"9969877012253562273","text":"\u003ctask:success:discrete:False\u003e\npick up the green packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray Q: immediate next step? \u003cPRED\u003eA: pick up the green packet from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: pick up the green packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the green packet from the table 2- place the green packet into the tray table 3- Pick up the packet from the table 4- place the packet into the tray table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the green 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the green packet from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the green packet from the table\n\u003c/PRED\u003e","video":"14160062218562064559.mp4"}
+{"uid":"1940505243985170848","text":"\u003ctask:success:discrete:True\u003e\nPick up the 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 up the packet from the table\n\u003c/PRED\u003e","video":"1182531836249553982.mp4"}
+{"uid":"8407232909517498061","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table Q: immediate next step? \u003cPRED\u003eA: place the green packet into the tray table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the green packet into the tray table 2- Pick up the packet from the table 3- place the packet into the tray table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green packet into the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green packet into the tray table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: place the green packet into the tray table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green packet into the tray table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green packet into the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8367692850263505219.mp4"}
+{"uid":"6998595182064378200","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet into the tray table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the brown packet into the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7431089881748582082.mp4"}
+{"uid":"10279000387511593294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the hand wash in trolly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13463414836314673725.mp4"}
+{"uid":"16640853780395772178","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Pick up the packet from the table 3- place the packet into the tray table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"13406319769264788438.mp4"}
+{"uid":"2987238866620928272","text":"\u003ctask:success:discrete:True\u003e\nPut the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"8263176985476562903.mp4"}
+{"uid":"2291613270741590081","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":"1411217513902790023.mp4"}
+{"uid":"16564850723615540079","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the popcorn packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the popcorn packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12076756530644478126.mp4"}
+{"uid":"10111745185431697716","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the green packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: place the green packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the green packet into the tray 2- Pick up the packet from the table 3- Place the packet in the tray 4- Pick up the popcorn packet 5- Put the popcorn packet in white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"314675023013657260.mp4"}
+{"uid":"5190308762494237564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6140977317027130567.mp4"}
+{"uid":"1766228518567661843","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table Q: immediate next step? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the packet from the table 2- place the packet into the tray table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e","video":"4779247219968183777.mp4"}
+{"uid":"17992847378236833935","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the plastic box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the plastic box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: 1- Put the fish toy in the paper container Q: immediate next step? \u003cPRED\u003eA: put the apple in the plastic box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the plastic box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box Q: immediate next step? \u003cPRED\u003eA: put the apple in the plastic box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: 1- Put the fish toy in the paper container Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the plastic box 2- put the apple in the plastic box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the plastic box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11367008243241554338.mp4"}
+{"uid":"10780730907200684234","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the popcorn packet in white tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Put the popcorn packet in white tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table 9- Pick up the packet from the table Q: immediate next step? \u003cPRED\u003eA: Put the popcorn packet in white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the popcorn packet in white tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the popcorn packet in white tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the popcorn packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table 9- Pick up the packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the popcorn packet in white tray 2- done\n\u003c/PRED\u003e","video":"8003258174789800389.mp4"}
+{"uid":"8092763948997691147","text":"\u003ctask:success:discrete:True\u003e\nPut the green packet in white tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the green packet in white tray\n\u003c/PRED\u003e","video":"14831458630267729562.mp4"}
+{"uid":"945612902296904087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4277477768661225347.mp4"}
+{"uid":"11133615687665970379","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the tray 2- Put the popcorn packet in white tray 3- Pick up the packet from the table 4- place the green packet into the tray table 5- Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e","video":"15526348326679510233.mp4"}
+{"uid":"18013146929920298127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4721725404823155603.mp4"}
+{"uid":"4208764252698044171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17621155416582122702.mp4"}
+{"uid":"3877050562659943130","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet into the tray table 2- Pick up the packet from the table 3- place the green packet into the tray table 4- Pick up the packet from the table 5- place the packet into the tray table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown packet into the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown packet into the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet into the tray table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet into the tray table\n\u003c/PRED\u003e","video":"3473104820918052654.mp4"}
+{"uid":"679924921085041072","text":"\u003ctask:success:discrete:False\u003e\nput the apple in the plastic box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box Q: immediate next step? \u003cPRED\u003eA: put the apple in the plastic box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the plastic box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the plastic box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the plastic box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: 1- Put the fish toy in the paper container 2- Put the apple in the paper container Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the plastic box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: 1- Put the fish toy in the paper container 2- Put the apple in the paper container Q: immediate next step? \u003cPRED\u003eA: put the apple in the plastic box\n\u003c/PRED\u003e","video":"4625036532634647150.mp4"}
+{"uid":"16377545323350398073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15309509400047976282.mp4"}
+{"uid":"2620984211162855860","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Pick up the packet from the table 3- Place the packet in the tray 4- Pick up the popcorn packet 5- Put the popcorn packet in white tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"12379101595305397237.mp4"}
+{"uid":"18237420772822781613","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table 9- Pick up the packet from the table Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table 9- Pick up the packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"1428618979426302528.mp4"}
+{"uid":"11153628833958595157","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Pick up the packet from the table 3- place the green packet into the tray table 4- Pick up the packet from the table 5- place the packet into the tray table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"11138041109951065746.mp4"}
+{"uid":"13790017374485732045","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the popcorn packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the popcorn packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table Q: immediate next step? \u003cPRED\u003eA: Pick up the popcorn packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the popcorn packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the popcorn packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the popcorn packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the popcorn packet 2- place the packet into the tray table 3- done\n\u003c/PRED\u003e","video":"3807251652975329365.mp4"}
+{"uid":"1266877967623120514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17978650720507958600.mp4"}
+{"uid":"10671617864555107789","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fish toy into the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fish toy into the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fish toy into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the fish toy into the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box Q: immediate next step? \u003cPRED\u003eA: Put the fish toy into the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fish toy into the paper bowl 2- Put the apple in the paper container 3- put the apple in the plastic box 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fish toy into the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11094019251812450049.mp4"}
+{"uid":"4158524106128814109","text":"\u003ctask:success:discrete:True\u003e\nPick up the 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 up the packet from the table\n\u003c/PRED\u003e","video":"6890123891844080843.mp4"}
+{"uid":"2417924584368707028","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4062661080703721309.mp4"}
+{"uid":"3054944399383728945","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6629260589452132886.mp4"}
+{"uid":"2078397675421083751","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple into the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: 1- Put the fish toy in the paper container Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple into the paper bowl 2- put the apple in the plastic box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple into the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box Q: immediate next step? \u003cPRED\u003eA: Put the apple into the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a lunch meal and put food into lunch box. last 20 steps: 1- Put the fish toy in the paper container Q: immediate next step? \u003cPRED\u003eA: Put the apple into the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple into the paper bowl\n\u003c/PRED\u003e","video":"11247978707566096753.mp4"}
+{"uid":"5083662448014257845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput coffee cup lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1078883032958125658.mp4"}
+{"uid":"6236749027381659662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pebble in the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2107996912121175712.mp4"}
+{"uid":"14476272894678698174","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10919169372755349786.mp4"}
+{"uid":"6393005647256675271","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet into the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table 9- Pick up the packet from the table 10- place the packet into the tray table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table 9- Pick up the packet from the table 10- place the packet into the tray table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet into the tray table\n\u003c/PRED\u003e","video":"2501272557961729148.mp4"}
+{"uid":"14458356547500789605","text":"\u003ctask:success:discrete:False\u003e\nPick up the packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the packet from the table 2- Place the packet in the tray 3- Pick up the popcorn packet 4- Put the popcorn packet in white tray 5- Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the packet from the table\n\u003c/PRED\u003e","video":"6017680126880512141.mp4"}
+{"uid":"3535364050560822038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12452843290740016426.mp4"}
+{"uid":"16704679785937062820","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":"14854095106322472489.mp4"}
+{"uid":"14619669420994437515","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the white packet from yje table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the white packet from yje table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11925811694684306268.mp4"}
+{"uid":"18168077303914303164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11979672978110634466.mp4"}
+{"uid":"686161460202926122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7677500867565673330.mp4"}
+{"uid":"9956614298697088592","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the white packet from yje table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the white packet from yje table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: pick up the white packet from yje table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the white packet from yje table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the white packet from yje table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table Q: immediate next step? \u003cPRED\u003eA: pick up the white packet from yje table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the white packet from yje table 2- place the packet into the tray table 3- done\n\u003c/PRED\u003e","video":"6170833239748867496.mp4"}
+{"uid":"12326534638637213775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sugar candies in a organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1538018459227773803.mp4"}
+{"uid":"10663544941771771313","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the tray table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table 9- Pick up the packet from the table Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the chips back into the bin. last 20 steps: 1- Pick up the packet from the table 2- Put the packet in the tray 3- Pick up the packet from the table 4- Place the packet in the tray 5- Pick up the popcorn packet 6- Put the popcorn packet in white tray 7- Pick up the packet from the table 8- place the green packet into the tray table 9- Pick up the packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the tray table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the tray table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the chips back into the bin. Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray table\n\u003c/PRED\u003e","video":"8696640141979251613.mp4"}
+{"uid":"18209893568500162504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14297585134538520908.mp4"}