diff --git "a/json/train/data-00006-of-00160.json" "b/json/train/data-00006-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00006-of-00160.json"
@@ -0,0 +1,471 @@
+{"uid":"137457819690158196","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the popup 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":"617863659703856742.mp4"}
+{"uid":"18268892964146416286","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room. last 20 steps: 1- pick the wallet from the couch Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the wallet from the couch\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the wallet from the couch Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room. last 20 steps: 1- pick the wallet from the couch Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2034942606762203330.mp4"}
+{"uid":"13305372629641642112","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the wallet on the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the wallet on the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the wallet on the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the wallet on the table. 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the wallet on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 wallet on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Put the wallet on the table.\n\u003c/PRED\u003e","video":"5195906887930326374.mp4"}
+{"uid":"7184748047448390483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace it on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8505053641039501704.mp4"}
+{"uid":"3016682397609688445","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 4 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":"17318305702847639546.mp4"}
+{"uid":"11309666013848633231","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button 4- put the glass on the rack 5- place the lid on the glass 6- take out the straw 7- put the straw into the glass 8- exit the room Q: immediate next step? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button 4- put the glass on the rack 5- place the lid on the glass 6- take out the straw 7- put the straw into the glass 8- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5721166874383251058.mp4"}
+{"uid":"6869076622647742674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16235971191185443336.mp4"}
+{"uid":"2154062098972314976","text":"\u003ctask:success:discrete:False\u003e\npress the button Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine Q: immediate next step? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npress the button Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine Q: next 5 steps? \u003cPRED\u003eA: 1- press the button 2- put the glass on the rack 3- place the lid on the glass 4- take out the straw 5- put the straw into the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e","video":"18316643841357969572.mp4"}
+{"uid":"8959476340608570130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table from the stationary holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17314020204523693849.mp4"}
+{"uid":"14886171199794195210","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. last 20 steps: 1- move towards the printer machine 2- pick the papers from the printer machine 3- lift up the papers Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the table 2- drop the papers on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. Q: immediate next step? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. last 20 steps: 1- move towards the printer machine 2- pick the papers from the printer machine 3- lift up the papers Q: immediate next step? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e","video":"1004397031491610581.mp4"}
+{"uid":"8531854900838143887","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":"7513125018142664267.mp4"}
+{"uid":"17568188938731704716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput alphabet tile 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":"15180122546276880165.mp4"}
+{"uid":"15738857921050309180","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room. last 20 steps: 1- pick the wallet from the couch 2- put the wallet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the wallet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the wallet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room. last 20 steps: 1- pick the wallet from the couch 2- put the wallet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"13668340336397297037.mp4"}
+{"uid":"1305652682378956984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15072909455131489319.mp4"}
+{"uid":"5806952694897979114","text":"\u003ctask:success:discrete:False\u003e\ndrop the papers on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. last 20 steps: 1- move towards the printer machine 2- pick the papers from the printer machine 3- lift up the papers 4- move towards the table Q: immediate next step? \u003cPRED\u003eA: drop the papers on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. last 20 steps: 1- move towards the printer machine 2- pick the papers from the printer machine 3- lift up the papers 4- move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the papers on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the papers on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the papers on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. Q: immediate next step? \u003cPRED\u003eA: drop the papers on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the papers on the table\n\u003c/PRED\u003e","video":"9587638960348280636.mp4"}
+{"uid":"16956971498844461356","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- place a original redbull can on table 3- place a original redbull can on table 4- put the redbull can on the table 5- place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"9688996661933498556.mp4"}
+{"uid":"5486677216536240671","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9862825380779466669.mp4"}
+{"uid":"4194841952354792787","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":"13983293429786929084.mp4"}
+{"uid":"14576279535143570809","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11892385984548577465.mp4"}
+{"uid":"6712296050306271688","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table Q: immediate next step? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place a original redbull can on table 2- place a original redbull can on table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a original redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e","video":"1065212264198252803.mp4"}
+{"uid":"5442702495392057577","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18017201004196394276.mp4"}
+{"uid":"2377113906092642004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1288273162231455858.mp4"}
+{"uid":"5479189909399043453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pens in a stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"810183814535540766.mp4"}
+{"uid":"8533048524655325473","text":"\u003ctask:success:discrete:True\u003e\nput the straw into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the straw into the glass\n\u003c/PRED\u003e","video":"7258602094408934297.mp4"}
+{"uid":"14133043978547015884","text":"\u003ctask:success:discrete:True\u003e\nplace a original redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e","video":"3707581384946106825.mp4"}
+{"uid":"621509318697428285","text":"\u003ctask:success:discrete:True\u003e\nPut the wallet on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room. last 20 steps: 1- Put the wallet 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: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room. last 20 steps: 1- Put the wallet on the table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the wallet on the table.\n\u003c/PRED\u003e","video":"12267306597551895765.mp4"}
+{"uid":"4594314840987769966","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. last 20 steps: 1- move towards the printer machine 2- pick the papers from the printer machine Q: next 5 steps? \u003cPRED\u003eA: 1- lift up the papers 2- move towards the table 3- drop the papers on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift up the papers\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift up the papers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. last 20 steps: 1- move towards the printer machine 2- pick the papers from the printer machine Q: immediate next step? \u003cPRED\u003eA: lift up the papers\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. Q: immediate next step? \u003cPRED\u003eA: lift up the papers\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift up the papers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift up the papers\n\u003c/PRED\u003e","video":"9304390826635526783.mp4"}
+{"uid":"5321704688840348568","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button 4- put the glass on the rack Q: immediate next step? \u003cPRED\u003eA: place the lid on the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid on the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: place the lid on the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button 4- put the glass on the rack Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the glass 2- take out the straw 3- put the straw into the glass 4- exit the room 5- place the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the glass\n\u003c/PRED\u003e","video":"8249851857503004378.mp4"}
+{"uid":"3326150823024356041","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button 4- put the glass on the rack 5- place the lid on the glass 6- take out the straw 7- put the straw into the glass Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- place the glass on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button 4- put the glass on the rack 5- place the lid on the glass 6- take out the straw 7- put the straw into the glass Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11071669014803287986.mp4"}
+{"uid":"12993134820409498476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9584735976693152233.mp4"}
+{"uid":"3125040163670580772","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table 3- place a original redbull can on table Q: immediate next step? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a original redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table 3- place a original redbull can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place a original redbull can on table 2- place a original redbull can on table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e","video":"3923008404455035616.mp4"}
+{"uid":"6071060024790018434","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":"2450578010850967029.mp4"}
+{"uid":"2910761130127218143","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the printer machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the printer machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move towards the printer machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the printer machine 2- pick the papers from the printer machine 3- lift up the papers 4- move towards the table 5- drop the papers on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. Q: immediate next step? \u003cPRED\u003eA: move towards the printer machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the printer machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the printer machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6906906304360601771.mp4"}
+{"uid":"14550456293974090498","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. Q: immediate next step? \u003cPRED\u003eA: pick the papers from the printer machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the papers from the printer machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the papers from the printer machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the papers from the printer machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the papers from the printer machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. last 20 steps: 1- move towards the printer machine Q: immediate next step? \u003cPRED\u003eA: pick the papers from the printer machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. last 20 steps: 1- move towards the printer machine Q: next 5 steps? \u003cPRED\u003eA: 1- pick the papers from the printer machine 2- lift up the papers 3- move towards the table 4- drop the papers on the table 5- done\n\u003c/PRED\u003e","video":"18309332128923395747.mp4"}
+{"uid":"4688755309877179395","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table 3- place a original redbull can on table Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table 3- place a original redbull can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the redbull can on the table 2- place a original redbull can on table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9747390259057198009.mp4"}
+{"uid":"13448080147856777288","text":"\u003ctask:success:discrete:True\u003e\ndrop the papers on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the papers on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: go to the printer and get the papers and put it on samuel's desk please. last 20 steps: 1- move towards the printer machine 2- pick the papers from the printer machine 3- lift up the papers 4- move towards the table 5- drop the papers 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: go to the printer and get the papers and put it on samuel's desk please. last 20 steps: 1- move towards the printer machine 2- pick the papers from the printer machine 3- lift up the papers 4- move towards the table 5- drop the papers on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13652735807539508413.mp4"}
+{"uid":"10938912117990384017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the box of breakfast blend Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6813007372839573238.mp4"}
+{"uid":"3877105669356602149","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button 4- put the glass on the rack 5- place the lid on the glass 6- take out the straw 7- put the straw into the glass 8- exit the room 9- place the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button 4- put the glass on the rack 5- place the lid on the glass 6- take out the straw 7- put the straw into the glass 8- exit the room 9- place the glass on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4225064982339227941.mp4"}
+{"uid":"15560170769002855246","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table 3- place a original redbull can on table 4- put the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table 3- place a original redbull can on table 4- put the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place a original redbull can on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a original redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e","video":"13114727142793055752.mp4"}
+{"uid":"4060814854064917134","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":"5717398119012127672.mp4"}
+{"uid":"16951788029814530127","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the redbull can on the table 2- place a original redbull can on table 3- place a original redbull can on table 4- put the redbull can on the table 5- place a original redbull can on table\n\u003c/PRED\u003e","video":"13526020199349705940.mp4"}
+{"uid":"7085704740750310649","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table 3- place a original redbull can on table 4- put the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the redbull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table 3- place a original redbull can on table 4- put the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e","video":"11670092378169834077.mp4"}
+{"uid":"10080654982053946516","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the redbull can on the table 2- place a original redbull can on table 3- put the redbull can on the table 4- place a original redbull can on table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e","video":"9620542716482609434.mp4"}
+{"uid":"13530983554179335283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"758643720166606079.mp4"}
+{"uid":"4547101624144592087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistas in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17597975552872081048.mp4"}
+{"uid":"13323856256907520538","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass on the machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass on the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass Q: immediate next step? \u003cPRED\u003eA: place the glass on the machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass on the machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: place the glass on the machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass on the machine 2- press the button 3- put the glass on the rack 4- place the lid on the glass 5- take out the straw\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass on the machine\n\u003c/PRED\u003e","video":"17706625703300626466.mp4"}
+{"uid":"17125968442427872486","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":"5010809213977699021.mp4"}
+{"uid":"11251031260189971572","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass on the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the glass on the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4135423208371626390.mp4"}
+{"uid":"17581911356950481875","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut Pistachio nut in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16679577923046020640.mp4"}
+{"uid":"18413638922391287127","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":"16729505369090286762.mp4"}
+{"uid":"2752752384509965685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the black file on the table 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":"3826289115853779219.mp4"}
+{"uid":"11600956685425905904","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the redbull can on the table 2- place a original redbull can on table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e","video":"12698230153843744685.mp4"}
+{"uid":"1272798144696952343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove 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":"16781083967040072965.mp4"}
+{"uid":"3749637832759636076","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass on the round table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2277468420792164673.mp4"}
+{"uid":"1794305119473126570","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the redbull can on the table 2- place a original redbull can on table 3- put the redbull can on the table 4- place a original redbull can on table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14871448308088112520.mp4"}
+{"uid":"13425010088978544858","text":"\u003ctask:success:discrete:False\u003e\ntake out the straw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button 4- put the glass on the rack 5- place the lid on the glass Q: next 5 steps? \u003cPRED\u003eA: 1- take out the straw 2- put the straw into the glass 3- exit the room 4- place the glass on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out the straw\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out the straw\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out the straw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button 4- put the glass on the rack 5- place the lid on the glass Q: immediate next step? \u003cPRED\u003eA: take out the straw\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: take out the straw\n\u003c/PRED\u003e","video":"6116641391298604999.mp4"}
+{"uid":"386975777799459966","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7269444526993244711.mp4"}
+{"uid":"5910995066005318025","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a original redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7958939958230782479.mp4"}
+{"uid":"6804400023710745581","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":"10778028556619903684.mp4"}
+{"uid":"11331899917486531156","text":"\u003ctask:success:discrete:True\u003e\nplace a original redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e","video":"16946201534127961185.mp4"}
+{"uid":"10236949366495544856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace cups in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17273762260878161693.mp4"}
+{"uid":"16657769922638437598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  last 2 packets in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4116710877135993359.mp4"}
+{"uid":"13135810160175932238","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the redbull can on the table 2- put the redbull can on the table 3- place a original redbull can on table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e","video":"16665439146594900674.mp4"}
+{"uid":"16956328795919707269","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table 3- place a original redbull can on table 4- put the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table 2- place a original redbull can on table 3- place a original redbull can on table 4- put the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the redbull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the redbull can on the table\n\u003c/PRED\u003e","video":"10091212887255361339.mp4"}
+{"uid":"463744876952351240","text":"\u003ctask:success:discrete:True\u003e\nplace the lid on the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the glass\n\u003c/PRED\u003e","video":"15265399882517519254.mp4"}
+{"uid":"13847280159632237604","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass on the rack 2- place the lid on the glass 3- take out the straw 4- put the straw into the glass 5- exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: put the glass on the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass on the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass on the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass on the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass on the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button Q: immediate next step? \u003cPRED\u003eA: put the glass on the rack\n\u003c/PRED\u003e","video":"16287009289317907193.mp4"}
+{"uid":"7753005482247087545","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place a original redbull can on table 2- place a original redbull can on table 3- put the redbull can on the table 4- place a original redbull can on table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a original redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- place a original redbull can on table Q: immediate next step? \u003cPRED\u003eA: place a original redbull can on table\n\u003c/PRED\u003e","video":"10266644857556274876.mp4"}
+{"uid":"8315606317103292700","text":"\u003ctask:success:discrete:True\u003e\npick the papers from the printer machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the papers from the printer machine\n\u003c/PRED\u003e","video":"4209565719709545280.mp4"}
+{"uid":"16115646934812200987","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npress the button Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3086534670398257352.mp4"}
+{"uid":"2474971405047603061","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the glass 2- place the glass on the machine 3- press the button 4- put the glass on the rack 5- place the lid on the glass\n\u003c/PRED\u003e","video":"14595775885652079315.mp4"}
+{"uid":"9393146169314239783","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the box in cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8871049602744457802.mp4"}
+{"uid":"12086843003989006565","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":"14734497622108469466.mp4"}
+{"uid":"8625384319836889051","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the straw into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button 4- put the glass on the rack 5- place the lid on the glass 6- take out the straw Q: immediate next step? \u003cPRED\u003eA: put the straw into the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: put the straw into the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the straw into the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the straw into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup a water, add a lid and a straw, then bring it to my desk. last 20 steps: 1- pick up the glass 2- place the glass on the machine 3- press the button 4- put the glass on the rack 5- place the lid on the glass 6- take out the straw Q: next 5 steps? \u003cPRED\u003eA: 1- put the straw into the glass 2- exit the room 3- place the glass on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the straw into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9252843349089350543.mp4"}
+{"uid":"12257674034586644479","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the printer machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the printer machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2392847259703306092.mp4"}
+{"uid":"13565038789142577612","text":"\u003ctask:success:discrete:False\u003e\nput the wallet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 wallet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the wallet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room. last 20 steps: 1- pick the wallet from the couch Q: next 5 steps? \u003cPRED\u003eA: 1- put the wallet on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room. last 20 steps: 1- pick the wallet from the couch Q: immediate next step? \u003cPRED\u003eA: put the wallet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: plaese find my wallet near the pool table in the other room, and bring it to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: put the wallet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the wallet on the table\n\u003c/PRED\u003e","video":"6857357047261644862.mp4"}
+{"uid":"9261221042728877577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15945881305374051551.mp4"}
+{"uid":"15246653255187685391","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate 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":"10848521221907700.mp4"}
+{"uid":"3348135324876240619","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table Q: immediate next step? \u003cPRED\u003eA: move towards the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the cap 2- grasp the cap 3- Pick up the cap from the table 4- Turn right 5- Move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: move towards the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the cap\n\u003c/PRED\u003e","video":"2961568915635028887.mp4"}
+{"uid":"7588120155598124008","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrasp the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1914771679815578379.mp4"}
+{"uid":"14347983933418061641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the  few forks in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11857847366739304215.mp4"}
+{"uid":"16070514550191506638","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Grab the cap on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the cap on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table Q: immediate next step? \u003cPRED\u003eA: Grab the cap on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the cap on the table 2- Pick up the cap from the table 3- Turn right 4- Move forward 5- Hang the cap on the hanger\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the cap on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the cap on the table\n\u003c/PRED\u003e","video":"15921637725643675.mp4"}
+{"uid":"13383395658511396166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12149932587751847755.mp4"}
+{"uid":"3789104057899514000","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the paper cup on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3794621495658769685.mp4"}
+{"uid":"9752294331598209598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen first aid 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":"8397136141872023816.mp4"}
+{"uid":"4853656512119133619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16449538719537829564.mp4"}
+{"uid":"1050003205155844039","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward Q: immediate next step? \u003cPRED\u003eA: Hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Hang the cap to the hanger 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nHang the cap to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Hang the cap to the hanger\n\u003c/PRED\u003e","video":"3181120915484649086.mp4"}
+{"uid":"15596321046776047227","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"11385453491061019223.mp4"}
+{"uid":"17046042911082196358","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":"10645237937430349093.mp4"}
+{"uid":"8566732940311043791","text":"\u003ctask:success:discrete:True\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e","video":"14918812868821510435.mp4"}
+{"uid":"9871586790577650075","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":"5211165908168860491.mp4"}
+{"uid":"12498911734847011243","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the cap on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the cap on the table 2- grasp the cap 3- Pick up the cap from the table 4- Turn right 5- Move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the cap on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move to the cap on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table Q: immediate next step? \u003cPRED\u003eA: Move to the cap on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the cap on the table\n\u003c/PRED\u003e","video":"6346197910933108608.mp4"}
+{"uid":"2540044706667317814","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":"12938275032333079017.mp4"}
+{"uid":"2090130867293080977","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Hang the cap to the hanger 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nHang the cap to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nHang the cap to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward Q: immediate next step? \u003cPRED\u003eA: Hang the cap to the hanger\n\u003c/PRED\u003e","video":"16052598783769160071.mp4"}
+{"uid":"14494535958048537093","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward 2- Hang the cap on the hanger 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e","video":"4277753983197212153.mp4"}
+{"uid":"17097553458378196623","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward 7- Hang the cap to the hanger Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nHang the cap to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward 7- Hang the cap to the hanger Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13479146982542777611.mp4"}
+{"uid":"17973496330197661944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tetra pack upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17513023870073544244.mp4"}
+{"uid":"8748036859636282528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue chip bag in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10021708064330375494.mp4"}
+{"uid":"8039115056073647801","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut Pistachio nut in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14429269302886672215.mp4"}
+{"uid":"3514190694095867332","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"13970806108509205470.mp4"}
+{"uid":"11740745473388906609","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a nut in right coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3868363517787961952.mp4"}
+{"uid":"697161689451205909","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the chair to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16052295369716226226.mp4"}
+{"uid":"3930105328742056755","text":"\u003ctask:success:discrete:False\u003e\nPick up the cap 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 cap from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Pick up the cap from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the cap 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 cap from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the cap from the table 2- Turn right 3- Move forward 4- Hang the cap on the hanger 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the cap from the table\n\u003c/PRED\u003e","video":"16414718827945486362.mp4"}
+{"uid":"15888892828767947551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue 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":"6069270199948468370.mp4"}
+{"uid":"18088491135151400125","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"10610568313240952437.mp4"}
+{"uid":"2965395610970760853","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":"1115842795528124370.mp4"}
+{"uid":"18412946516549506531","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cap 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: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: pick up the cap 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 cap from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cap from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cap from the table 2- Turn right 3- Move forward 4- Hang the cap on the hanger 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the cap 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: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table Q: immediate next step? \u003cPRED\u003eA: pick up the cap from the table\n\u003c/PRED\u003e","video":"12108379071341457717.mp4"}
+{"uid":"12965195739502008743","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"5555337762983297324.mp4"}
+{"uid":"1491856978577695528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6475493863242936647.mp4"}
+{"uid":"5358041468274190760","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"13073568870734463494.mp4"}
+{"uid":"15136946303067737182","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance: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":"17556168647194077332.mp4"}
+{"uid":"9040503813153980911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15034348657009991828.mp4"}
+{"uid":"5206374108321997225","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":"9496680209401124342.mp4"}
+{"uid":"7870303872443211090","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Turn right 2- Move forward 3- Hang the cap on the hanger 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Turn right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Turn right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Turn right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTurn right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTurn right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table Q: immediate next step? \u003cPRED\u003eA: Turn right\n\u003c/PRED\u003e","video":"2012917676758062192.mp4"}
+{"uid":"9620164441503759883","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":"13993060285007740099.mp4"}
+{"uid":"1154926053666489230","text":"\u003ctask:success:discrete:True\u003e\nPick up the cap 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 cap from the table\n\u003c/PRED\u003e","video":"2183780125362368004.mp4"}
+{"uid":"469295967746411337","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the second left chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15661478596672111785.mp4"}
+{"uid":"16428514847527778380","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Pick the cap on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap Q: immediate next step? \u003cPRED\u003eA: Pick the cap on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the cap on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the cap on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the cap on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the cap on the table 2- Hang the cap on the hanger 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14589720860325404671.mp4"}
+{"uid":"17353519743475670007","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on the existing glass stack 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":"2995505460484243372.mp4"}
+{"uid":"9683477469845201644","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1590811046481333491.mp4"}
+{"uid":"13745807468233525980","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the cap from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the cap from the table 2- Turn right 3- Move forward 4- Hang the cap on the hanger 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Pick up the cap from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the cap from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the cap from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the cap 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":"3647889444876812417.mp4"}
+{"uid":"13211897076900254322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1610231902505739347.mp4"}
+{"uid":"9521213005448748315","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the cap from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the cap 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":"3127951352115099578.mp4"}
+{"uid":"17585016719367177243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack blue book vertically Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16864065655072107772.mp4"}
+{"uid":"1857903887314890200","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhang the cap to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhang the cap to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward Q: immediate next step? \u003cPRED\u003eA: hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- hang the cap to the hanger 2- done\n\u003c/PRED\u003e","video":"17372092492584393465.mp4"}
+{"uid":"5694098665143073162","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table 9- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table 9- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"7669169211434574794.mp4"}
+{"uid":"11122780087105734797","text":"\u003ctask:success:discrete:True\u003e\nTurn right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Turn right\n\u003c/PRED\u003e","video":"14089912515441346958.mp4"}
+{"uid":"16496116355537767302","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15705666417157920342.mp4"}
+{"uid":"18098887702817605903","text":"\u003ctask:success:discrete:False\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table 2- Hang the cap on the hanger 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e","video":"3359314842125896298.mp4"}
+{"uid":"4599868022352161485","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the large bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3264740522091347304.mp4"}
+{"uid":"2251670891405512457","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"12964122370150734036.mp4"}
+{"uid":"13932310593180690399","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward Q: immediate next step? \u003cPRED\u003eA: Hang the cap on the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nHang the cap on the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Hang the cap on the hanger 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Hang the cap on the hanger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Hang the cap on the hanger\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nHang the cap on the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Hang the cap on the hanger\n\u003c/PRED\u003e","video":"12301319337056604615.mp4"}
+{"uid":"13960542216908636226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick a 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":"6080107791717979848.mp4"}
+{"uid":"3866195247850783308","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- hang the cap to the hanger 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward Q: immediate next step? \u003cPRED\u003eA: hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhang the cap to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhang the cap to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18401353393253701735.mp4"}
+{"uid":"14049610292477464388","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move to the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the cap 2- grasp the cap 3- Pick up the cap from the table 4- Turn right 5- Move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table Q: immediate next step? \u003cPRED\u003eA: Move to the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6117232451258484891.mp4"}
+{"uid":"9870189837709505367","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward 7- hang the cap to the hanger Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward 7- hang the cap to the hanger Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nhang the cap to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15634851377514842413.mp4"}
+{"uid":"16964930017188340668","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the cap on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17352788547210238519.mp4"}
+{"uid":"8042121028144524914","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cap on the table 2- Move forward 3- Hang the cap on the hanger 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cap on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap Q: immediate next step? \u003cPRED\u003eA: pick the cap on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cap on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 cap on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: pick the cap on the table\n\u003c/PRED\u003e","video":"446672023713570599.mp4"}
+{"uid":"3571487306193439565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sheets in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13834229380569464200.mp4"}
+{"uid":"14226434988816661315","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table Q: immediate next step? \u003cPRED\u003eA: Go to the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the hanger 2- Hang the cap on the hanger 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the hanger\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Go to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3214834516353171678.mp4"}
+{"uid":"15572038342345929701","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move to the cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the cap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table Q: immediate next step? \u003cPRED\u003eA: Move to the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the cap 2- grasp the cap 3- Pick up the cap from the table 4- Turn right 5- Move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14037231710094984144.mp4"}
+{"uid":"15850353017678721381","text":"\u003ctask:success:discrete:True\u003e\nGrab the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the cap on the table\n\u003c/PRED\u003e","video":"17107273505675629694.mp4"}
+{"uid":"4097529362827056475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the blue drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4754594978492641787.mp4"}
+{"uid":"5346774142615533068","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12174369032705383750.mp4"}
+{"uid":"4261188629065193384","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward 7- Hang the cap to the hanger Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nHang the cap to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Hang the cap to the hanger\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward 7- Hang the cap to the hanger Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"186845071651742678.mp4"}
+{"uid":"2654035057696805030","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Hang the cap on the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward 7- Hang the cap on the hanger Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward 7- Hang the cap on the hanger Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nHang the cap on the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13299817448623042150.mp4"}
+{"uid":"4246687140629347210","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: move towards the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the cap 2- grasp the cap 3- Pick up the cap from the table 4- Turn right 5- Move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the cap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table Q: immediate next step? \u003cPRED\u003eA: move towards the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8118627483633459981.mp4"}
+{"uid":"1437076401707942697","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the cap on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10804660263154933449.mp4"}
+{"uid":"5826150198451246690","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5875277055619515106.mp4"}
+{"uid":"16128183045363057913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"569739264445774152.mp4"}
+{"uid":"4129538263258616018","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"17096127472069038863.mp4"}
+{"uid":"9263302124517456112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace stapler on the left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6706878660426310352.mp4"}
+{"uid":"9792945814913170124","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward 7- hang the cap to the hanger Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nhang the cap to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table 3- grasp the cap 4- Pick up the cap from the table 5- Turn right 6- Move forward 7- hang the cap to the hanger Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hang the cap to the hanger\n\u003c/PRED\u003e","video":"1654449776328531844.mp4"}
+{"uid":"9004392662783073811","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the cap 2- Turn right 3- Move forward 4- Hang the cap on the hanger 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the cap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table Q: immediate next step? \u003cPRED\u003eA: Grasp the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Grasp the cap\n\u003c/PRED\u003e","video":"14561731742186085585.mp4"}
+{"uid":"3806467202146885619","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table 9- put packet on the table 10- put packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table 8- put packet on the table 9- put packet on the table 10- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"9395912826669291048.mp4"}
+{"uid":"16663310593811009396","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 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 chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"12823472928239476368.mp4"}
+{"uid":"6368672341197063700","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"7697150354376362728.mp4"}
+{"uid":"6728934834042822461","text":"\u003ctask:success:discrete:True\u003e\nPick the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the cap on the table\n\u003c/PRED\u003e","video":"7385924515494165308.mp4"}
+{"uid":"18259863288319895313","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"8933761249068343942.mp4"}
+{"uid":"10859565208907685620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1559709802036122694.mp4"}
+{"uid":"16914312717312345477","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the cap 2- Turn right 3- Move forward 4- Hang the cap on the hanger 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack. last 20 steps: 1- move to the table 2- Move to the cap on the table Q: immediate next step? \u003cPRED\u003eA: grasp the cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my hat is on the table, please hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: grasp the cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16865319067155287131.mp4"}
+{"uid":"723566872337523551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4532916502687876234.mp4"}
+{"uid":"5697094040160101766","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pan stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the pan stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen 7- pick up the pink pen 8- pick up the pan stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen 7- pick up the pink pen 8- pick up the pan stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14447175387703005526.mp4"}
+{"uid":"18340020590490184199","text":"\u003ctask:success:discrete:True\u003e\npick up the pink pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e","video":"13380387074072387372.mp4"}
+{"uid":"15814198908029099426","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pink pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen Q: immediate next step? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pink pen 2- pick up the pink pen 3- pick up the pan stand 4- done\n\u003c/PRED\u003e","video":"8737221553015822735.mp4"}
+{"uid":"12086259961915913126","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1855801362243282190.mp4"}
+{"uid":"9055306680129601742","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep 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":"14611374461979515683.mp4"}
+{"uid":"2946515514437464647","text":"\u003ctask:success:discrete:True\u003e\npour pistachios into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour pistachios into the jar\n\u003c/PRED\u003e","video":"8838459261887431048.mp4"}
+{"uid":"880128789095689629","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoons in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15943741921587607288.mp4"}
+{"uid":"16177859537737991258","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- pick up the pan stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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":"6758343002749315356.mp4"}
+{"uid":"11978886673957980143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9950937725446851562.mp4"}
+{"uid":"7097232387260470410","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3873234438307565573.mp4"}
+{"uid":"16744013750776332956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up cereal scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2580287139039219018.mp4"}
+{"uid":"2439010219852180299","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen 7- pick up the pink pen 8- put holder on trolley Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput holder on trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen 7- pick up the pink pen 8- put holder on trolley Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put holder on trolley\n\u003c/PRED\u003e","video":"5445948383300641873.mp4"}
+{"uid":"12264159976367039499","text":"\u003ctask:success:discrete:True\u003e\npick up the black pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the black pen\n\u003c/PRED\u003e","video":"17626767044294818002.mp4"}
+{"uid":"6749706731458361981","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":"961360891869475374.mp4"}
+{"uid":"5130971143426519268","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput holder on trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: put holder on trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen 7- pick up the pink pen Q: next 5 steps? \u003cPRED\u003eA: 1- put holder on trolley 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put holder on trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put holder on trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput holder on trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen 7- pick up the pink pen Q: immediate next step? \u003cPRED\u003eA: put holder on trolley\n\u003c/PRED\u003e","video":"17374509764277278416.mp4"}
+{"uid":"1906152995092818447","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the black pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the black pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6357906079468793236.mp4"}
+{"uid":"8166994045264318337","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":"18332605275699266123.mp4"}
+{"uid":"5668065182111625377","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen stand 2- pick up the pink pen 3- pick up the pan stand 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e","video":"12017184552834406500.mp4"}
+{"uid":"2201529445325282250","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":"3705458048159416033.mp4"}
+{"uid":"12462926047017194098","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table 2- pour the pistachio into the jar 3- put lid back on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table 2- pour the pistachio into the jar 3- put lid back on the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the nuts into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put lid back on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput lid back on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5027744335727008229.mp4"}
+{"uid":"14321697709761913660","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pink pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen Q: immediate next step? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pink pen 2- pick up the pink pen 3- pick up the pan stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pink pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e","video":"13794753113835457870.mp4"}
+{"uid":"11394568337648052951","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the black pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the black pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the black pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the black pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: pick up the black pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the black pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen\n\u003c/PRED\u003e","video":"13702597871349853362.mp4"}
+{"uid":"740369123078429152","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the nuts into the jar Q: immediate next step? \u003cPRED\u003eA: put lid back on the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put lid back on the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table 2- pour the pistachio into the jar Q: immediate next step? \u003cPRED\u003eA: put lid back on the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table 2- pour the pistachio into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put lid back on the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put lid back on the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput lid back on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput lid back on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"824300036689759870.mp4"}
+{"uid":"13137902015354599494","text":"\u003ctask:success:discrete:False\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen stand 2- pick up the black pen 3- pick up the pink pen 4- pick up the pink pen 5- pick up the pink pen\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:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart 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","video":"10398594372930498657.mp4"}
+{"uid":"11656201131408361106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10380819039328685001.mp4"}
+{"uid":"10406119555373627936","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put cap on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cap on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cap on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the nuts into the jar Q: immediate next step? \u003cPRED\u003eA: put cap on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cap on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put cap on table 2- pour the pistachio into the jar 3- place the lid on the jar 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cap on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14911022152596612933.mp4"}
+{"uid":"4394205259227285113","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":"7559857032702845026.mp4"}
+{"uid":"11735097971419682393","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- pick up the black pen 3- pick up the pink pen 4- pick up the pink pen 5- pick up the pink pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e","video":"2663755850560125719.mp4"}
+{"uid":"15480808150706936101","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour pistachios into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour pistachios into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour pistachios into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pour pistachios into the jar 2- place the lid on the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour pistachios into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the nuts into the jar Q: immediate next step? \u003cPRED\u003eA: pour pistachios into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table Q: immediate next step? \u003cPRED\u003eA: pour pistachios into the jar\n\u003c/PRED\u003e","video":"15496522012008161533.mp4"}
+{"uid":"17677173225830412745","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachios in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachios in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachios in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table Q: immediate next step? \u003cPRED\u003eA: put pistachios in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachios in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachios in glass jar 2- place the lid on the jar 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the nuts into the jar Q: immediate next step? \u003cPRED\u003eA: put pistachios in glass jar\n\u003c/PRED\u003e","video":"5323167105845030942.mp4"}
+{"uid":"12587068369302379930","text":"\u003ctask:success:discrete:True\u003e\nPut the pen stand in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen 7- pick up the pink pen 8- Put the pen stand in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen stand in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen 7- pick up the pink pen 8- Put the pen stand in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17809367156949604437.mp4"}
+{"uid":"12963936881946445921","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":"6757273620567244151.mp4"}
+{"uid":"2934219331545745121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10260697270273491615.mp4"}
+{"uid":"6810252168451451814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bottle in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14562442529576283820.mp4"}
+{"uid":"5392451397186904518","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"2518245317220198461.mp4"}
+{"uid":"3106347523621699293","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour the pistachio into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table 2- pour the pistachio into the jar Q: immediate next step? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour the pistachio into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the nuts into the jar Q: immediate next step? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table 2- pour the pistachio into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the jar 2- done\n\u003c/PRED\u003e","video":"17403095242194845066.mp4"}
+{"uid":"6187463201726036459","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour the pistachio into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the nuts into the jar Q: immediate next step? \u003cPRED\u003eA: pour the pistachio into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table Q: immediate next step? \u003cPRED\u003eA: pour the pistachio into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lid on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour the pistachio into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour the pistachio into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pour the pistachio into the jar 2- place the lid on the jar 3- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the pistachio into the jar\n\u003c/PRED\u003e","video":"14300744284607558457.mp4"}
+{"uid":"6633133280092467422","text":"\u003ctask:success:discrete:False\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen stand 2- pick up the pink pen 3- pick up the pink pen 4- pick up the pink pen 5- pick up the pan stand\n\u003c/PRED\u003e","video":"10731909546317366627.mp4"}
+{"uid":"2085806107581985488","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2321850014808526368.mp4"}
+{"uid":"11673436908515430944","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: keep pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: keep pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep 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: keep pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- keep pen in holder 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep pen in holder\n\u003c/PRED\u003e","video":"2291678263242043288.mp4"}
+{"uid":"12808015021846691159","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put lid of the jar on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put lid of the jar on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put lid of the jar on the table 2- place the lid on the jar 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the nuts into the jar Q: immediate next step? \u003cPRED\u003eA: put lid of the jar on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput lid of the jar on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put lid of the jar on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput lid of the jar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16550021943349719477.mp4"}
+{"uid":"9494980278896537998","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- pick up the pink pen 3- pick up the pink pen 4- pick up the pink pen 5- pick up the pan stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e","video":"1005975517716203715.mp4"}
+{"uid":"12932800199974567067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6334865769912358349.mp4"}
+{"uid":"9207075601616187862","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the black pen 2- pick up the pink pen 3- pick up the pink pen 4- pick up the pink pen 5- pick up the pan stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the black pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the black pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: pick up the black pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand Q: immediate next step? \u003cPRED\u003eA: pick up the black pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the black pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the black pen\n\u003c/PRED\u003e","video":"5123245779106666113.mp4"}
+{"uid":"2541668878945473036","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- pick up the pink pen 3- pick up the pan stand 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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 pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e","video":"2357768049158780400.mp4"}
+{"uid":"12330083935448650813","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: pick up the pan stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pan 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 red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen 7- pick up the pink pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pan stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pan stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pan stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pan 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 red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen 7- pick up the pink pen Q: immediate next step? \u003cPRED\u003eA: pick up the pan stand\n\u003c/PRED\u003e","video":"14606051749200948688.mp4"}
+{"uid":"16159618928027450062","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"2230538416563298037.mp4"}
+{"uid":"665816813562675938","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":"536811904708052767.mp4"}
+{"uid":"14501807657857452534","text":"\u003ctask:success:discrete:True\u003e\npick up the pink pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e","video":"13842911897359464543.mp4"}
+{"uid":"11487644166392799920","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistachios in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pistachios in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11395118588961920065.mp4"}
+{"uid":"16079244095593814290","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the pink pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"605863592445233421.mp4"}
+{"uid":"7236571827631991531","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":"2373210424479913373.mp4"}
+{"uid":"7701038272827695341","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen Q: immediate next step? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pink pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pink pen 2- pick up the pan stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pink pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e","video":"8352210050917194406.mp4"}
+{"uid":"3665551700290616331","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":"1252322675695271300.mp4"}
+{"uid":"3857828681290209033","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":"12434045225721407089.mp4"}
+{"uid":"12908518092681904816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17245670583590554483.mp4"}
+{"uid":"11339510817084453982","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candies in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13943649440125300577.mp4"}
+{"uid":"5548370269354387539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3459898222999916152.mp4"}
+{"uid":"17442724200439152734","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the nuts into the jar Q: immediate next step? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the table 2- pour the pistachio into the jar 3- place the lid on the jar 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e","video":"16165711733542640705.mp4"}
+{"uid":"17817218702308557169","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: drop the pink pen on a pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pink pen on a pen stand 2- pick up the black pen 3- pick up the pink pen 4- pick up the pink pen 5- pick up the pink pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen Q: immediate next step? \u003cPRED\u003eA: drop the pink pen on a pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pink pen on a pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pink pen on a pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pink pen on a pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pink pen on a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14751490946423489672.mp4"}
+{"uid":"2549317621095738413","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput cap on glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table 2- pour the pistachio into the jar Q: immediate next step? \u003cPRED\u003eA: put cap on glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cap on glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cap on glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cap on glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table 2- pour the pistachio into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put cap on glass jar 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the nuts into the jar Q: immediate next step? \u003cPRED\u003eA: put cap on glass jar\n\u003c/PRED\u003e","video":"1958292694077658847.mp4"}
+{"uid":"9115573498916654577","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put glass on the table 2- place the lid on the jar 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the nuts into the jar Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11817122363725728306.mp4"}
+{"uid":"13841620230099426510","text":"\u003ctask:success:discrete:True\u003e\nput lid of the jar on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put lid of the jar on the table\n\u003c/PRED\u003e","video":"10950237422915960028.mp4"}
+{"uid":"5273824453844288026","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove tray 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":"8180390979932205164.mp4"}
+{"uid":"14052540322762479740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the jar lid on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4705776249732330976.mp4"}
+{"uid":"7872961971361976818","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":"15348832391729801405.mp4"}
+{"uid":"7473657961566837205","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table 2- pour the pistachio into the jar 3- place the lid on the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the nuts into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the nuts into the jar. last 20 steps: 1- place the lid on the table 2- pour the pistachio into the jar 3- place the lid on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4291186596952292819.mp4"}
+{"uid":"12640595217635641886","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":"15735172720438977521.mp4"}
+{"uid":"7163818437734492008","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen Q: immediate next step? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the pen stand 2- pick up the pan stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e","video":"11135794626568957519.mp4"}
+{"uid":"2230821838450407056","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15191918017441547704.mp4"}
+{"uid":"5101355903446092142","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen stand in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen 7- pick up the pink pen Q: immediate next step? \u003cPRED\u003eA: Put the pen stand in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen stand in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: Put the pen stand in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen 2- pick up the pink pen 3- drop the pink pen on a pen stand 4- pick up the black pen 5- pick up the pink pen 6- pick up the pink pen 7- pick up the pink pen Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen stand in the tray 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen stand in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen stand in the tray\n\u003c/PRED\u003e","video":"9829951508350518904.mp4"}
+{"uid":"9553757529797253897","text":"\u003ctask:success:discrete:True\u003e\ndrop the pink pen on a 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: drop the pink pen on a pen stand\n\u003c/PRED\u003e","video":"8729880954818470166.mp4"}
+{"uid":"948418298218496087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17852335234706638806.mp4"}
+{"uid":"13651977957482578300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16982338824051229427.mp4"}
+{"uid":"17851267568799288576","text":"\u003ctask:success:discrete:False\u003e\npick up the pink pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pink pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen Q: immediate next step? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart. last 20 steps: 1- pick up the black pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pink pen 2- drop the pink pen on a pen stand 3- pick up the black pen 4- pick up the pink pen 5- pick up the pink pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the red and black pens in the bin then put the bin on the suppy cart Q: immediate next step? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e","video":"9773657280865452038.mp4"}
+{"uid":"11822806763138404383","text":"\u003ctask:success:discrete:True\u003e\npick up the pink pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pink pen\n\u003c/PRED\u003e","video":"12930478931020352709.mp4"}
+{"uid":"2755788081316934817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packet into the brown tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5568495914479452917.mp4"}
+{"uid":"173660821086657230","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":"13734969269162952054.mp4"}
+{"uid":"18333422969785951885","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"7595595018771355795.mp4"}
+{"uid":"17986314607722289858","text":"\u003ctask:success:discrete:True\u003e\nput 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 pen in holder\n\u003c/PRED\u003e","video":"9947787875096075990.mp4"}
+{"uid":"775243810803703126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the small sticky notes above the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16295897862365069335.mp4"}
+{"uid":"8147204426702044898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16517125999308006583.mp4"}
+{"uid":"7208976144393974726","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a packet in tray 2- place a packet in tray 3- drop a packet in tray 4- place a packet in tray 5- drop a yellow candy in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e","video":"15670892392325786438.mp4"}
+{"uid":"12774064744621847510","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move chair backwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove chair backwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair. last 20 steps: 1- open the packet of wipes 2- put wipe on the table 3- close the packet of wipes 4- clean the table Q: next 5 steps? \u003cPRED\u003eA: 1- move chair backwards 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair Q: immediate next step? \u003cPRED\u003eA: move chair backwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove chair backwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 chair backwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair. last 20 steps: 1- open the packet of wipes 2- put wipe on the table 3- close the packet of wipes 4- clean the table Q: immediate next step? \u003cPRED\u003eA: move chair backwards\n\u003c/PRED\u003e","video":"4204592982378743639.mp4"}
+{"uid":"6093227790695645450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown 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":"16794337534257535126.mp4"}
+{"uid":"13173289601120920734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16603856276721298836.mp4"}
+{"uid":"10950305702227363686","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow packet in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet in the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the glass jar 2- Place the pinks candy in the jar 3- drop a candy in jar 4- drop a candy in jar 5- drop a candy in jar\n\u003c/PRED\u003e","video":"3237921240972211488.mp4"}
+{"uid":"3467805891462192499","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11171593542637136967.mp4"}
+{"uid":"4722076491422047393","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar Q: immediate next step? \u003cPRED\u003eA: Place the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the yellow candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow candy in the jar 2- Place the pinks candy in the jar 3- drop a candy in jar 4- drop a candy in jar 5- drop a candy in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15355316187849071399.mp4"}
+{"uid":"18442965410333322265","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a packet in tray 2- drop a yellow candy in jar 3- Put the yellow packet in the glass jar 4- Place the pinks candy in the jar 5- drop a candy in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e","video":"3335323130576146205.mp4"}
+{"uid":"15106011554618164755","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink packet in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink packet in the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink packet in the glass jar 2- drop a candy in jar 3- drop a candy in jar 4- drop a candy in jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: Put the pink packet in the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the pink packet in the glass jar\n\u003c/PRED\u003e","video":"551088180313519403.mp4"}
+{"uid":"7358611745953936735","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- drop a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4899464800499690993.mp4"}
+{"uid":"5567241274298688508","text":"\u003ctask:success:discrete:True\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e","video":"4955856703091823170.mp4"}
+{"uid":"12070260831096756654","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a packet in tray 2- drop a packet in tray 3- place a packet in tray 4- drop a yellow candy in jar 5- Put the yellow packet in the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2035619927420309167.mp4"}
+{"uid":"9565659677392566553","text":"\u003ctask:success:discrete:True\u003e\nPut the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e","video":"3994893635699816531.mp4"}
+{"uid":"2565092528743628649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16281333450751705196.mp4"}
+{"uid":"11082186267287432488","text":"\u003ctask:success:discrete:False\u003e\ndrop a packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop a packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop a packet in tray 2- place a packet in tray 3- drop a yellow candy in jar 4- Put the yellow packet in the glass jar 5- Place the pinks candy in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: drop a packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: drop a packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop a packet in tray\n\u003c/PRED\u003e","video":"87014606596459286.mp4"}
+{"uid":"7348283907733316644","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":"11174768904926441980.mp4"}
+{"uid":"12467156309961540307","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput wipe on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair. last 20 steps: 1- open the packet of wipes Q: immediate next step? \u003cPRED\u003eA: put wipe on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair. last 20 steps: 1- open the packet of wipes Q: next 5 steps? \u003cPRED\u003eA: 1- put wipe on the table 2- close the packet of wipes 3- clean the table 4- move chair backwards 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput wipe on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair Q: immediate next step? \u003cPRED\u003eA: put wipe on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put wipe on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put wipe on the table\n\u003c/PRED\u003e","video":"8063798349122900763.mp4"}
+{"uid":"7352451643789057290","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in a tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8959005165102957234.mp4"}
+{"uid":"451802515349004336","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet in the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet in the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet in the glass jar 2- drop a candy in jar 3- drop a candy in jar 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the glass jar\n\u003c/PRED\u003e","video":"4581681007006360764.mp4"}
+{"uid":"17674635640976371351","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Grab the yellow candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the yellow candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the yellow candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the yellow candy 2- Put the yellow packet in the glass jar 3- Place the pinks candy in the jar 4- drop a candy in jar 5- drop a candy in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the yellow candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: Grab the yellow candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the yellow candy\n\u003c/PRED\u003e","video":"14157830611296201892.mp4"}
+{"uid":"6155386670085100059","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- drop a yellow candy in jar 3- Put the yellow packet in the glass jar 4- Place the pinks candy in the jar 5- drop a candy in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e","video":"12336611262318465386.mp4"}
+{"uid":"334502444731643903","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- place a packet in tray 3- drop a packet in tray 4- place a packet in tray 5- drop a yellow candy in jar\n\u003c/PRED\u003e","video":"14702145705861784833.mp4"}
+{"uid":"5783234397316126526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7316908922565134096.mp4"}
+{"uid":"2460381487520650894","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16644127290459847574.mp4"}
+{"uid":"4064688853098624138","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar Q: immediate next step? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop a candy in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop a candy in jar 2- drop a candy in jar 3- drop a candy in jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop a candy in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e","video":"5817558382564253015.mp4"}
+{"uid":"10776064251238318572","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":"5901100222008525129.mp4"}
+{"uid":"17866791088940427233","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":"10082687854306029536.mp4"}
+{"uid":"17050175742815635722","text":"\u003ctask:success:discrete:False\u003e\nPlace the pink candy in a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar 12- drop a candy in jar Q: immediate next step? \u003cPRED\u003eA: Place the pink candy in a jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink candy in a jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink candy in a jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the pink candy in a jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink candy in a jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar 12- drop a candy in jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink candy in a jar 2- done\n\u003c/PRED\u003e","video":"214786354586446684.mp4"}
+{"uid":"7955900003253244015","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- drop a packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e","video":"15006496337504392474.mp4"}
+{"uid":"6564856348651249205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pastic Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6777809858257367402.mp4"}
+{"uid":"2641502589440537115","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop a candy in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop a candy in jar 2- drop a candy in jar 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar Q: immediate next step? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e","video":"13710119934507146607.mp4"}
+{"uid":"7000290492920134536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a coffee cup lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15702121877845391032.mp4"}
+{"uid":"911181476085838717","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":"6767452771666128916.mp4"}
+{"uid":"3009500965598177054","text":"\u003ctask:success:discrete:True\u003e\nplace a packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e","video":"928404391753102113.mp4"}
+{"uid":"5279613992853180735","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13307639929760586884.mp4"}
+{"uid":"17261469119749504714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a pen stand on table from 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":"13383252799535401894.mp4"}
+{"uid":"15783202168105902014","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar Q: immediate next step? \u003cPRED\u003eA: place a candy in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a candy in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place a candy in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place a candy in jar 2- Place the pinks candy in the jar 3- drop a candy in jar 4- drop a candy in jar 5- drop a candy in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a candy in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a candy in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a candy in jar\n\u003c/PRED\u003e","video":"12174819530517928640.mp4"}
+{"uid":"513625586894127378","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- drop a packet in tray 3- place a packet in tray 4- drop a yellow candy in jar 5- Put the yellow packet in the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16204536931160563810.mp4"}
+{"uid":"7526623609653693091","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut black pen in a stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3781623219305781350.mp4"}
+{"uid":"9074240790902955330","text":"\u003ctask:success:discrete:True\u003e\ndrop a packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop a packet in tray\n\u003c/PRED\u003e","video":"9867848552340134898.mp4"}
+{"uid":"7121992441668592843","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e","video":"13674451334162898.mp4"}
+{"uid":"7278649837882376429","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the packet of wipes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the packet of wipes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the packet of wipes 2- put wipe on the table 3- close the packet of wipes 4- clean the table 5- move chair backwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair Q: immediate next step? \u003cPRED\u003eA: open the packet of wipes\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the packet of wipes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the packet of wipes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the packet of wipes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"578064153866827636.mp4"}
+{"uid":"11842308331584762492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the box in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"739027805110815909.mp4"}
+{"uid":"5072087142480432578","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7694396846484498799.mp4"}
+{"uid":"11687626579227910555","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":"13720698710216185838.mp4"}
+{"uid":"8443494921050750662","text":"\u003ctask:success:discrete:True\u003e\nPlace the pink candy in a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pink candy in a jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar 12- drop a candy in jar 13- Place the pink candy in a jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar 12- drop a candy in jar 13- Place the pink candy in a jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14012490356385122473.mp4"}
+{"uid":"3001265518102755676","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow candy in a jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow candy in a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow candy in a jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar Q: immediate next step? \u003cPRED\u003eA: Place the yellow candy in a jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow candy in a jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the yellow candy in a jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow candy in a jar 2- drop a candy in jar 3- drop a candy in jar 4- done\n\u003c/PRED\u003e","video":"3542303223538537243.mp4"}
+{"uid":"10114920272817020511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6389324934873798983.mp4"}
+{"uid":"1676824874798735475","text":"\u003ctask:success:discrete:True\u003e\nplace a packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e","video":"16283462543305852279.mp4"}
+{"uid":"14750551587784610985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17174958960988010152.mp4"}
+{"uid":"14944758835122289837","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in a tray 2- place a packet in tray 3- drop a yellow candy in jar 4- Put the yellow packet in the glass jar 5- Place the pinks candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e","video":"7965277742689266714.mp4"}
+{"uid":"17592241659097964913","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5985720850039548447.mp4"}
+{"uid":"7152334166329359752","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a candy in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a candy in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16298382638711463534.mp4"}
+{"uid":"969760287756246521","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3898950490575385670.mp4"}
+{"uid":"10791677434506993146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5339356026938591157.mp4"}
+{"uid":"11079123335798934390","text":"\u003ctask:success:discrete:True\u003e\nPut the pink packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pink packet in the glass jar\n\u003c/PRED\u003e","video":"15038140241643808261.mp4"}
+{"uid":"6862465617534101843","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink packet in the glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar Q: immediate next step? \u003cPRED\u003eA: Put the pink packet in the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink packet in the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink packet in the glass jar 2- drop a candy in jar 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the pink packet in the glass jar\n\u003c/PRED\u003e","video":"10829583276514847609.mp4"}
+{"uid":"3972586772569401766","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3292225976888001757.mp4"}
+{"uid":"6943996221185978440","text":"\u003ctask:success:discrete:True\u003e\ndrop a candy in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e","video":"17713817284561059241.mp4"}
+{"uid":"14379513917465104931","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar 12- drop a candy in jar Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar 12- drop a candy in jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet in the glass jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet in the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet in the glass jar\n\u003c/PRED\u003e","video":"15146684827421574524.mp4"}
+{"uid":"13899857092675533100","text":"\u003ctask:success:discrete:True\u003e\nPlace the packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e","video":"16706136109768627540.mp4"}
+{"uid":"13763400140658047267","text":"\u003ctask:success:discrete:True\u003e\nPut the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e","video":"11356197833402777596.mp4"}
+{"uid":"6160009646121391008","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in a tray 2- drop a yellow candy in jar 3- Put the yellow packet in the glass jar 4- Place the pinks candy in the jar 5- drop a candy in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e","video":"7477370177843322767.mp4"}
+{"uid":"9536324734064064252","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in a tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- drop a packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e","video":"10826802455641660458.mp4"}
+{"uid":"17776129595287951340","text":"\u003ctask:success:discrete:True\u003e\nPut the pink packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pink packet in the glass jar\n\u003c/PRED\u003e","video":"6689190530462549263.mp4"}
+{"uid":"2993187775003452277","text":"\u003ctask:success:discrete:False\u003e\nPut the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- place a packet in tray 3- drop a yellow candy in jar 4- Put the yellow packet in the glass jar 5- Place the pinks candy in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e","video":"17217999494224808219.mp4"}
+{"uid":"189487524765861937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop chocolate candy in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3166748647607365627.mp4"}
+{"uid":"17624475765393064703","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in a tray 2- place a packet in tray 3- drop a yellow candy in jar 4- Put the yellow packet in the glass jar 5- Place the pinks candy in the jar\n\u003c/PRED\u003e","video":"14327407102910767960.mp4"}
+{"uid":"13566326629124447977","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":"13157971357477797490.mp4"}
+{"uid":"14435647144602380833","text":"\u003ctask:success:discrete:True\u003e\ndrop a yellow candy in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop a yellow candy in jar\n\u003c/PRED\u003e","video":"902245266785986784.mp4"}
+{"uid":"1974395697075995545","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":"9560301980571142711.mp4"}
+{"uid":"1702750618459951919","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop a pink candy in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop a pink candy in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5222778867440170167.mp4"}
+{"uid":"8935385040295266346","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13886855367995475351.mp4"}
+{"uid":"17310817602404944718","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15457323163519897407.mp4"}
+{"uid":"7812291119495327638","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pinks candy in the jar 2- drop a candy in jar 3- drop a candy in jar 4- drop a candy in jar 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the pinks candy in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pinks candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pinks candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pinks candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: Place the pinks candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pinks candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1697066460424488550.mp4"}
+{"uid":"13016188052773558327","text":"\u003ctask:success:discrete:True\u003e\nPlace the pinks candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pinks candy in the jar\n\u003c/PRED\u003e","video":"7080707326889915444.mp4"}
+{"uid":"16015057486418798197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the left yellow marker 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":"5102601958018645401.mp4"}
+{"uid":"8308406278588365923","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar 12- drop a candy in jar Q: immediate next step? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop a candy in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar 12- drop a candy in jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop a candy in jar 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e","video":"7889130363443204232.mp4"}
+{"uid":"8120949077707307558","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17858073334194373653.mp4"}
+{"uid":"10018745421100498792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10044549704662035276.mp4"}
+{"uid":"6091552582780482507","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16688022368563377247.mp4"}
+{"uid":"911326500857954276","text":"\u003ctask:success:discrete:False\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair. last 20 steps: 1- open the packet of wipes 2- put wipe on the table 3- close the packet of wipes Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table 2- move chair backwards 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair. last 20 steps: 1- open the packet of wipes 2- put wipe on the table 3- close the packet of wipes Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e","video":"9732910814211463848.mp4"}
+{"uid":"5359433884938904950","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in a tray 2- place a packet in tray 3- place a packet in tray 4- drop a packet in tray 5- place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- place a packet in tray 3- place a packet in tray 4- drop a packet in tray 5- place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e","video":"977331651541398276.mp4"}
+{"uid":"14198741939566970504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop candy on the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16782770852714762985.mp4"}
+{"uid":"5939549993717279606","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in a tray 2- place a packet in tray 3- drop a packet in tray 4- place a packet in tray 5- drop a yellow candy in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10473314642652188116.mp4"}
+{"uid":"1194001290951154572","text":"\u003ctask:success:discrete:True\u003e\nmove chair backwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 chair backwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair. last 20 steps: 1- open the packet of wipes 2- put wipe on the table 3- close the packet of wipes 4- clean the table 5- move chair backwards Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair. last 20 steps: 1- open the packet of wipes 2- put wipe on the table 3- close the packet of wipes 4- clean the table 5- move chair backwards Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1483170248175139118.mp4"}
+{"uid":"11874265124730870361","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar 12- drop a candy in jar 13- drop a candy in jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar 10- Place the pinks candy in the jar 11- drop a candy in jar 12- drop a candy in jar 13- drop a candy in jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop a candy in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e","video":"398079254672375039.mp4"}
+{"uid":"10762748548715333765","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":"9333960302748253764.mp4"}
+{"uid":"4996797657408123","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow packet in the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the yellow packet in the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6913539535397918266.mp4"}
+{"uid":"4565211796847030553","text":"\u003ctask:success:discrete:True\u003e\nplace a packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e","video":"6835093793333172656.mp4"}
+{"uid":"8175180841383793316","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the belt from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4439321324517053942.mp4"}
+{"uid":"7541394269079652527","text":"\u003ctask:success:discrete:True\u003e\ndrop a candy in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop a candy in jar\n\u003c/PRED\u003e","video":"5079467579647269345.mp4"}
+{"uid":"3796600695715539413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the orange packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10119907218070209159.mp4"}
+{"uid":"17721049146424432081","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10990217080897859760.mp4"}
+{"uid":"11401028848684457787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the container box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7104332474713407941.mp4"}
+{"uid":"13414584948373687402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the right side drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10317396184147975759.mp4"}
+{"uid":"17178996709538340065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2128349478753268732.mp4"}
+{"uid":"4250283002395515886","text":"\u003ctask:success:discrete:True\u003e\nPlace the packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e","video":"8706686980276139544.mp4"}
+{"uid":"3996331853249744014","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7925472607793832617.mp4"}
+{"uid":"14208815368043609583","text":"\u003ctask:success:discrete:False\u003e\nclose the packet of wipes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair. last 20 steps: 1- open the packet of wipes 2- put wipe on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the packet of wipes 2- clean the table 3- move chair backwards 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the packet of wipes\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the packet of wipes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair. last 20 steps: 1- open the packet of wipes 2- put wipe on the table Q: immediate next step? \u003cPRED\u003eA: close the packet of wipes\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am going to library can you clean the desk with lysol and pull out a chair Q: immediate next step? \u003cPRED\u003eA: close the packet of wipes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the packet of wipes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10800811936325184643.mp4"}
+{"uid":"2685475989517756558","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- drop a packet in tray 5- place a packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e","video":"1762787523499872025.mp4"}
+{"uid":"17620534525102976506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5583070396711683713.mp4"}
+{"uid":"8103466318754166367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy in the left side tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1837082208648133792.mp4"}
+{"uid":"9475755237562044674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green 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":"6589646661949953591.mp4"}
+{"uid":"10766726308257311447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"16676613921805895023.mp4"}
+{"uid":"2084644243865349214","text":"\u003ctask:success:discrete:False\u003e\ndrop a pink candy in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop a pink candy in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop a pink candy in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar Q: immediate next step? \u003cPRED\u003eA: drop a pink candy in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop a pink candy in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: drop a pink candy in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray 8- drop a yellow candy in jar 9- Put the yellow packet in the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop a pink candy in jar 2- drop a candy in jar 3- drop a candy in jar 4- drop a candy in jar 5- done\n\u003c/PRED\u003e","video":"4688964859568985316.mp4"}
+{"uid":"4333298935316571235","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop a yellow candy in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop a yellow candy in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop a yellow candy in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop a yellow candy in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: drop a yellow candy in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: drop a yellow candy in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- place a packet in tray 2- place a packet in tray 3- place a packet in tray 4- place a packet in tray 5- place a packet in tray 6- drop a packet in tray 7- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop a yellow candy in jar 2- Put the yellow packet in the glass jar 3- Place the pinks candy in the jar 4- drop a candy in jar 5- drop a candy in jar\n\u003c/PRED\u003e","video":"13912839173958578463.mp4"}
+{"uid":"8307158009597998715","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14762863607437695862.mp4"}
+{"uid":"7701108331987313072","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":"11589729502975050424.mp4"}
+{"uid":"7002353243128257123","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2117485175414002068.mp4"}
+{"uid":"13550037324911919025","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":"248838093678228039.mp4"}
+{"uid":"13144829691873451138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9911853964856217537.mp4"}
+{"uid":"9913061569061256088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace yellow marker inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14670386702308574530.mp4"}
+{"uid":"12326407118185254612","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the pink packet in the container 3- Place the white packet in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"1668007197372805920.mp4"}
+{"uid":"1715087802502997067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios 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":"6353135470864171251.mp4"}
+{"uid":"7966688164403318779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15978676459397240218.mp4"}
+{"uid":"3862791603343648696","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":"17255640384673292136.mp4"}
+{"uid":"9218043107367039657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nfold 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":"9752215517975644986.mp4"}
+{"uid":"9159084497848595787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2364453883596185121.mp4"}
+{"uid":"3592044735871144749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the knife into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9476871619339807348.mp4"}
+{"uid":"1366733879704178051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3412166992006010339.mp4"}
+{"uid":"17525155424374634977","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the container 2- Place the sugar packets in the container 3- Place the pink packets in the container 4- Place the pink packets in the container 5- Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e","video":"17668264630737344282.mp4"}
+{"uid":"5061593569288225765","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10611564708379308559.mp4"}
+{"uid":"6139089393774059883","text":"\u003ctask:success:discrete:False\u003e\nPlace the sugar packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packets in the container 2- Place the pink packets in the container 3- Place the white packets in the container 4- Place the pink packet in the container 5- Place the pink pack in the container 6- Place the pink packet in the container 7- Place the sugar packets in the container 8- Place the sugar packets in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the pink packet in the container 12- Place the pink packets in the container 13- Place the pink packets in the container 14- Place the white packet in the container 15- Place the white packets in the container 16- Place the white packets in the container 17- Place the white packets in the container 18- Place the sugar packets in the container 19- Place the white packet in the container 20- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the container 2- Place the sugar packet in the container 3- Place the pink packets in the container 4- Place the pink packets in the container 5- Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packets in the container 2- Place the pink packets in the container 3- Place the white packets in the container 4- Place the pink packet in the container 5- Place the pink pack in the container 6- Place the pink packet in the container 7- Place the sugar packets in the container 8- Place the sugar packets in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the pink packet in the container 12- Place the pink packets in the container 13- Place the pink packets in the container 14- Place the white packet in the container 15- Place the white packets in the container 16- Place the white packets in the container 17- Place the white packets in the container 18- Place the sugar packets in the container 19- Place the white packet in the container 20- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14768116359019446412.mp4"}
+{"uid":"10721856109337713962","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"13720310397516407347.mp4"}
+{"uid":"6393764395249585902","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packet in the container 2- Place the pink packets in the container 3- Place the pink packets in the container 4- Place the white packets in the container 5- Place the pink packet in the container 6- Place the pink pack in the container 7- Place the pink packet in the container 8- Place the sugar packets in the container 9- Place the sugar packets in the container 10- Place the pink packets in the container 11- Place the pink packets in the container 12- Place the pink packet in the container 13- Place the pink packets in the container 14- Place the pink packets in the container 15- Place the white packet in the container 16- Place the white packets in the container 17- Place the white packets in the container 18- Place the white packets in the container 19- Place the sugar packets in the container 20- Place the white packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packets in the container 3- Place the sugar packet in the container 4- Place the pink packets in the container 5- Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packet in the container 2- Place the pink packets in the container 3- Place the pink packets in the container 4- Place the white packets in the container 5- Place the pink packet in the container 6- Place the pink pack in the container 7- Place the pink packet in the container 8- Place the sugar packets in the container 9- Place the sugar packets in the container 10- Place the pink packets in the container 11- Place the pink packets in the container 12- Place the pink packet in the container 13- Place the pink packets in the container 14- Place the pink packets in the container 15- Place the white packet in the container 16- Place the white packets in the container 17- Place the white packets in the container 18- Place the white packets in the container 19- Place the sugar packets in the container 20- Place the white packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18235992055035234988.mp4"}
+{"uid":"13293675095594826265","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the white packets in the container 2- Place the white packets in the container 3- Place the sugar packets in the container 4- Place the white packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packet in the container 8- Place the pink packets in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the yellow packet in the container 12- Place the yellow packet in the container 13- Place the pink packets in the container 14- Place the sugar packet to the left side of the table 15- Place the sugar packets in the container 16- Move the packets to right side of the table 17- Place the sugar packet in the container 18- Place the yellow packet in the table 19- Place the yellow packet in the table 20- Place the yellow packet in the table Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the white packets in the container 2- Place the white packets in the container 3- Place the sugar packets in the container 4- Place the white packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packet in the container 8- Place the pink packets in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the yellow packet in the container 12- Place the yellow packet in the container 13- Place the pink packets in the container 14- Place the sugar packet to the left side of the table 15- Place the sugar packets in the container 16- Move the packets to right side of the table 17- Place the sugar packet in the container 18- Place the yellow packet in the table 19- Place the yellow packet in the table 20- Place the yellow packet in the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the table 2- Place the yellow packet in the table 3- Place the steel tong on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow packet in the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e","video":"810135531379273721.mp4"}
+{"uid":"14273774226301854175","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":"4055874342566094136.mp4"}
+{"uid":"13361141069204757731","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scissor into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the scissors can you put it back and can you bring me a pen from printer room. last 20 steps: 1- pick up the scissor Q: immediate next step? \u003cPRED\u003eA: put the scissor into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scissor 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: I am done using the scissors can you put it back and can you bring me a pen from printer room Q: immediate next step? \u003cPRED\u003eA: put the scissor into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the scissors can you put it back and can you bring me a pen from printer room. last 20 steps: 1- pick up the scissor Q: next 5 steps? \u003cPRED\u003eA: 1- put the scissor into the pen holder 2- pick up the pen 3- put the pen on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scissor into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the scissor 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":"12272648001997772797.mp4"}
+{"uid":"14929855167943749719","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7790388711312607838.mp4"}
+{"uid":"8881994686125047920","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the white packets in the container 2- Place the pink packet in the container 3- Place the pink pack in the container 4- Place the pink packet in the container 5- Place the sugar packets in the container 6- Place the sugar packets in the container 7- Place the pink packets in the container 8- Place the pink packets in the container 9- Place the pink packet in the container 10- Place the pink packets in the container 11- Place the pink packets in the container 12- Place the white packet in the container 13- Place the white packets in the container 14- Place the white packets in the container 15- Place the white packets in the container 16- Place the sugar packets in the container 17- Place the white packet in the container 18- Place the sugar packet in the container 19- Place the sugar packets in the container 20- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packets in the container 2- Place the pink packets in the container 3- Place the pink packets in the container 4- Place the yellow packet in the container 5- Place the yellow packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the white packets in the container 2- Place the pink packet in the container 3- Place the pink pack in the container 4- Place the pink packet in the container 5- Place the sugar packets in the container 6- Place the sugar packets in the container 7- Place the pink packets in the container 8- Place the pink packets in the container 9- Place the pink packet in the container 10- Place the pink packets in the container 11- Place the pink packets in the container 12- Place the white packet in the container 13- Place the white packets in the container 14- Place the white packets in the container 15- Place the white packets in the container 16- Place the sugar packets in the container 17- Place the white packet in the container 18- Place the sugar packet in the container 19- Place the sugar packets in the container 20- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17597279003747733425.mp4"}
+{"uid":"2039511490797114184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the right most silver object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16417694887785014545.mp4"}
+{"uid":"6924735295002096348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the laptop carrier Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6957477740190830361.mp4"}
+{"uid":"10613760887127552810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop binder clip into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5699698347170382875.mp4"}
+{"uid":"5677163599223996021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14523737154781693.mp4"}
+{"uid":"156861619331229585","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":"13582122585911153105.mp4"}
+{"uid":"3624420272070198733","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":"11876721903187640520.mp4"}
+{"uid":"17386892657419500476","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packets in the container 2- Place the sugar packets in the container 3- Place the pink packets in the container 4- Place the pink packets in the container 5- Place the pink packet in the container 6- Place the pink packets in the container 7- Place the pink packets in the container 8- Place the white packet in the container 9- Place the white packets in the container 10- Place the white packets in the container 11- Place the white packets in the container 12- Place the sugar packets in the container 13- Place the white packet in the container 14- Place the sugar packet in the container 15- Place the sugar packets in the container 16- Place the sugar packet in the container 17- Place the pink packets in the container 18- Place the pink packets in the container 19- Place the pink packets in the container 20- Place the yellow packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the container 2- Place the pink packets in the container 3- Place the sugar packet to the left side of the table 4- Place the sugar packets in the container 5- Move the packets to right side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packets in the container 2- Place the sugar packets in the container 3- Place the pink packets in the container 4- Place the pink packets in the container 5- Place the pink packet in the container 6- Place the pink packets in the container 7- Place the pink packets in the container 8- Place the white packet in the container 9- Place the white packets in the container 10- Place the white packets in the container 11- Place the white packets in the container 12- Place the sugar packets in the container 13- Place the white packet in the container 14- Place the sugar packet in the container 15- Place the sugar packets in the container 16- Place the sugar packet in the container 17- Place the pink packets in the container 18- Place the pink packets in the container 19- Place the pink packets in the container 20- Place the yellow packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the container\n\u003c/PRED\u003e","video":"14898744123394358765.mp4"}
+{"uid":"3553723608229584504","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packets in the container 2- Place the pink packets in the container 3- Place the white packet in the container 4- Place the white packets in the container 5- Place the white packets in the container 6- Place the white packets in the container 7- Place the sugar packets in the container 8- Place the white packet in the container 9- Place the sugar packet in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the pink packets in the container 13- Place the pink packets in the container 14- Place the pink packets in the container 15- Place the yellow packet in the container 16- Place the yellow packet in the container 17- Place the pink packets in the container 18- Place the sugar packet to the left side of the table 19- Place the sugar packets in the container 20- Move the packets to right side of the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packets in the container 2- Place the pink packets in the container 3- Place the white packet in the container 4- Place the white packets in the container 5- Place the white packets in the container 6- Place the white packets in the container 7- Place the sugar packets in the container 8- Place the white packet in the container 9- Place the sugar packet in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the pink packets in the container 13- Place the pink packets in the container 14- Place the pink packets in the container 15- Place the yellow packet in the container 16- Place the yellow packet in the container 17- Place the pink packets in the container 18- Place the sugar packet to the left side of the table 19- Place the sugar packets in the container 20- Move the packets to right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the yellow packet in the table 3- Place the yellow packet in the table 4- Place the yellow packet in the table 5- Place the yellow packet in the table\n\u003c/PRED\u003e","video":"653765061790671465.mp4"}
+{"uid":"7431012558468352190","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packets in the container 2- Place the pink packet in the container 3- Place the pink pack in the container 4- Place the pink packet in the container 5- Place the sugar packets in the container\n\u003c/PRED\u003e","video":"2155422859352129239.mp4"}
+{"uid":"10242238832117345599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an orange inside the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12363229785644166750.mp4"}
+{"uid":"8076825150491014414","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink pack in the container 2- Place the pink packet in the container 3- Place the sugar packets in the container 4- Place the sugar packets in the container 5- Place the pink packets in the container 6- Place the pink packets in the container 7- Place the pink packet in the container 8- Place the pink packets in the container 9- Place the pink packets in the container 10- Place the white packet in the container 11- Place the white packets in the container 12- Place the white packets in the container 13- Place the white packets in the container 14- Place the sugar packets in the container 15- Place the white packet in the container 16- Place the sugar packet in the container 17- Place the sugar packets in the container 18- Place the sugar packet in the container 19- Place the pink packets in the container 20- Place the pink packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink pack in the container 2- Place the pink packet in the container 3- Place the sugar packets in the container 4- Place the sugar packets in the container 5- Place the pink packets in the container 6- Place the pink packets in the container 7- Place the pink packet in the container 8- Place the pink packets in the container 9- Place the pink packets in the container 10- Place the white packet in the container 11- Place the white packets in the container 12- Place the white packets in the container 13- Place the white packets in the container 14- Place the sugar packets in the container 15- Place the white packet in the container 16- Place the sugar packet in the container 17- Place the sugar packets in the container 18- Place the sugar packet in the container 19- Place the pink packets in the container 20- Place the pink packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packets in the container 2- Place the yellow packet in the container 3- Place the yellow packet in the container 4- Place the pink packets in the container 5- Place the sugar packet to the left side of the table\n\u003c/PRED\u003e","video":"10032110919843487270.mp4"}
+{"uid":"13907370614988505394","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container 15- Place the sugar packets in the container 16- Place the sugar packets in the container 17- Place the pink packets in the container 18- Place the pink packets in the container 19- Place the pink packet in the container 20- Place the pink packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container 15- Place the sugar packets in the container 16- Place the sugar packets in the container 17- Place the pink packets in the container 18- Place the pink packets in the container 19- Place the pink packet in the container 20- Place the pink packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packets in the container 2- Place the white packet in the container 3- Place the white packets in the container 4- Place the white packets in the container 5- Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e","video":"1736656516378370781.mp4"}
+{"uid":"10500445623724354688","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":"498454070361197341.mp4"}
+{"uid":"4820641249412492796","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packets in the container 2- Place the pink packet in the container 3- Place the pink packets in the container 4- Place the pink packets in the container 5- Place the white packet in the container 6- Place the white packets in the container 7- Place the white packets in the container 8- Place the white packets in the container 9- Place the sugar packets in the container 10- Place the white packet in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Place the sugar packet in the container 14- Place the pink packets in the container 15- Place the pink packets in the container 16- Place the pink packets in the container 17- Place the yellow packet in the container 18- Place the yellow packet in the container 19- Place the pink packets in the container 20- Place the sugar packet to the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the container 2- Move the packets to right side of the table 3- Place the sugar packet in the container 4- Place the yellow packet in the table 5- Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packets in the container 2- Place the pink packet in the container 3- Place the pink packets in the container 4- Place the pink packets in the container 5- Place the white packet in the container 6- Place the white packets in the container 7- Place the white packets in the container 8- Place the white packets in the container 9- Place the sugar packets in the container 10- Place the white packet in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Place the sugar packet in the container 14- Place the pink packets in the container 15- Place the pink packets in the container 16- Place the pink packets in the container 17- Place the yellow packet in the container 18- Place the yellow packet in the container 19- Place the pink packets in the container 20- Place the sugar packet to the left side of the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e","video":"1046158352433103940.mp4"}
+{"uid":"17453013824115553959","text":"\u003ctask:success:discrete:False\u003e\nPlace the pink packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container 15- Place the sugar packets in the container 16- Place the sugar packets in the container 17- Place the pink packets in the container 18- Place the pink packets in the container 19- Place the pink packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container 15- Place the sugar packets in the container 16- Place the sugar packets in the container 17- Place the pink packets in the container 18- Place the pink packets in the container 19- Place the pink packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packets in the container 2- Place the pink packets in the container 3- Place the white packet in the container 4- Place the white packets in the container 5- Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6191776890714693627.mp4"}
+{"uid":"4867363687727167368","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packets in the container 2- Place the pink packets in the container 3- Place the white packets in the container 4- Place the pink packet in the container 5- Place the pink pack in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e","video":"11359435151683173342.mp4"}
+{"uid":"8680337474023009657","text":"\u003ctask:success:discrete:False\u003e\nPlace the white packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packet in the container 2- Place the pink packet in the container 3- Place the pink packets in the container 4- Place the pink packets in the container 5- Place the white packets in the container 6- Place the pink packet in the container 7- Place the pink pack in the container 8- Place the pink packet in the container 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the pink packets in the container 12- Place the pink packets in the container 13- Place the pink packet in the container 14- Place the pink packets in the container 15- Place the pink packets in the container 16- Place the white packet in the container 17- Place the white packets in the container 18- Place the white packets in the container 19- Place the white packets in the container 20- Place the sugar packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packet in the container 2- Place the pink packet in the container 3- Place the pink packets in the container 4- Place the pink packets in the container 5- Place the white packets in the container 6- Place the pink packet in the container 7- Place the pink pack in the container 8- Place the pink packet in the container 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the pink packets in the container 12- Place the pink packets in the container 13- Place the pink packet in the container 14- Place the pink packets in the container 15- Place the pink packets in the container 16- Place the white packet in the container 17- Place the white packets in the container 18- Place the white packets in the container 19- Place the white packets in the container 20- Place the sugar packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet in the container 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the container\n\u003c/PRED\u003e","video":"10621671900377331011.mp4"}
+{"uid":"276720900609203236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the bag 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":"1416473840080741154.mp4"}
+{"uid":"5944627175089367822","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17441892033089832264.mp4"}
+{"uid":"17166926558445004546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1077143633712765511.mp4"}
+{"uid":"1773499373284270420","text":"\u003ctask:success:discrete:True\u003e\nPlace the pink packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e","video":"3105311466981619980.mp4"}
+{"uid":"2660227231450508355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16607031217978874923.mp4"}
+{"uid":"3955716223983215753","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"10829851481615920508.mp4"}
+{"uid":"16223836213744235755","text":"\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packets in the container 3- Place the sugar packet in the container 4- Place the pink packet in the container 5- Place the white packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"6665511618371951330.mp4"}
+{"uid":"726768258854921565","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow packet in the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packets in the container 2- Place the white packet in the container 3- Place the white packets in the container 4- Place the white packets in the container 5- Place the white packets in the container 6- Place the sugar packets in the container 7- Place the white packet in the container 8- Place the sugar packet in the container 9- Place the sugar packets in the container 10- Place the sugar packet in the container 11- Place the pink packets in the container 12- Place the pink packets in the container 13- Place the pink packets in the container 14- Place the yellow packet in the container 15- Place the yellow packet in the container 16- Place the pink packets in the container 17- Place the sugar packet to the left side of the table 18- Place the sugar packets in the container 19- Move the packets to right side of the table 20- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the table 2- Place the yellow packet in the table 3- Place the yellow packet in the table 4- Place the yellow packet in the table 5- Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packets in the container 2- Place the white packet in the container 3- Place the white packets in the container 4- Place the white packets in the container 5- Place the white packets in the container 6- Place the sugar packets in the container 7- Place the white packet in the container 8- Place the sugar packet in the container 9- Place the sugar packets in the container 10- Place the sugar packet in the container 11- Place the pink packets in the container 12- Place the pink packets in the container 13- Place the pink packets in the container 14- Place the yellow packet in the container 15- Place the yellow packet in the container 16- Place the pink packets in the container 17- Place the sugar packet to the left side of the table 18- Place the sugar packets in the container 19- Move the packets to right side of the table 20- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e","video":"1800548812647252480.mp4"}
+{"uid":"3856465447506978372","text":"\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"9026550217909212136.mp4"}
+{"uid":"17854160126295120341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13711542532195230016.mp4"}
+{"uid":"10753378403961320491","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packet in the container 2- Place the pink pack in the container 3- Place the pink packet in the container 4- Place the sugar packets in the container 5- Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e","video":"16089620689214164022.mp4"}
+{"uid":"15318643469355716814","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"3285089079387221592.mp4"}
+{"uid":"12448122479080205394","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container 15- Place the sugar packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container 15- Place the sugar packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the container 2- Place the pink packets in the container 3- Place the pink packets in the container 4- Place the pink packet in the container 5- Place the pink packets in the container\n\u003c/PRED\u003e","video":"10480854957323346623.mp4"}
+{"uid":"16395473349594892568","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packets in the container 2- Place the pink packets in the container 3- Place the pink packets in the container 4- Place the pink packet in the container 5- Place the pink packets in the container 6- Place the pink packets in the container 7- Place the white packet in the container 8- Place the white packets in the container 9- Place the white packets in the container 10- Place the white packets in the container 11- Place the sugar packets in the container 12- Place the white packet in the container 13- Place the sugar packet in the container 14- Place the sugar packets in the container 15- Place the sugar packet in the container 16- Place the pink packets in the container 17- Place the pink packets in the container 18- Place the pink packets in the container 19- Place the yellow packet in the container 20- Place the yellow packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packets in the container 2- Place the pink packets in the container 3- Place the pink packets in the container 4- Place the pink packet in the container 5- Place the pink packets in the container 6- Place the pink packets in the container 7- Place the white packet in the container 8- Place the white packets in the container 9- Place the white packets in the container 10- Place the white packets in the container 11- Place the sugar packets in the container 12- Place the white packet in the container 13- Place the sugar packet in the container 14- Place the sugar packets in the container 15- Place the sugar packet in the container 16- Place the pink packets in the container 17- Place the pink packets in the container 18- Place the pink packets in the container 19- Place the yellow packet in the container 20- Place the yellow packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packets in the container 2- Place the sugar packet to the left side of the table 3- Place the sugar packets in the container 4- Move the packets to right side of the table 5- Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8762971387109353219.mp4"}
+{"uid":"12460380461427793457","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the scissors can you put it back and can you bring me a pen from printer room. last 20 steps: 1- pick up the scissor 2- put the scissor into the pen holder 3- pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the scissors can you put it back and can you bring me a pen from printer room Q: immediate next step? \u003cPRED\u003eA: put the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the scissors can you put it back and can you bring me a pen from printer room. last 20 steps: 1- pick up the scissor 2- put the scissor into the pen holder 3- pick up the pen Q: immediate next step? \u003cPRED\u003eA: put the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1608514964008787084.mp4"}
+{"uid":"7912463808773135338","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packet in the container 2- Place the sugar packets in the container 3- Place the sugar packets in the container 4- Place the pink packets in the container 5- Place the pink packets in the container 6- Place the pink packet in the container 7- Place the pink packets in the container 8- Place the pink packets in the container 9- Place the white packet in the container 10- Place the white packets in the container 11- Place the white packets in the container 12- Place the white packets in the container 13- Place the sugar packets in the container 14- Place the white packet in the container 15- Place the sugar packet in the container 16- Place the sugar packets in the container 17- Place the sugar packet in the container 18- Place the pink packets in the container 19- Place the pink packets in the container 20- Place the pink packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the container 2- Place the yellow packet in the container 3- Place the pink packets in the container 4- Place the sugar packet to the left side of the table 5- Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packet in the container 2- Place the sugar packets in the container 3- Place the sugar packets in the container 4- Place the pink packets in the container 5- Place the pink packets in the container 6- Place the pink packet in the container 7- Place the pink packets in the container 8- Place the pink packets in the container 9- Place the white packet in the container 10- Place the white packets in the container 11- Place the white packets in the container 12- Place the white packets in the container 13- Place the sugar packets in the container 14- Place the white packet in the container 15- Place the sugar packet in the container 16- Place the sugar packets in the container 17- Place the sugar packet in the container 18- Place the pink packets in the container 19- Place the pink packets in the container 20- Place the pink packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the container\n\u003c/PRED\u003e","video":"14338264322632584562.mp4"}
+{"uid":"9198275348279883610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7868460974752195660.mp4"}
+{"uid":"16753051627344026970","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":"1795438242318981074.mp4"}
+{"uid":"15113866162945174284","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container 15- Place the sugar packets in the container 16- Place the sugar packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packets in the container 2- Place the pink packets in the container 3- Place the pink packet in the container 4- Place the pink packets in the container 5- Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container 15- Place the sugar packets in the container 16- Place the sugar packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e","video":"5781460592873213681.mp4"}
+{"uid":"1068885967110203403","text":"\u003ctask:success:discrete:False\u003e\nPlace the white packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet in the container 2- Place the sugar packet in the container 3- Place the pink packet in the container 4- Place the pink packets in the container 5- Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the container\n\u003c/PRED\u003e","video":"10344932005655013005.mp4"}
+{"uid":"9008967950742446914","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the packets to right side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packet in the container 2- Place the pink packets in the container 3- Place the pink packets in the container 4- Place the white packet in the container 5- Place the white packets in the container 6- Place the white packets in the container 7- Place the white packets in the container 8- Place the sugar packets in the container 9- Place the white packet in the container 10- Place the sugar packet in the container 11- Place the sugar packets in the container 12- Place the sugar packet in the container 13- Place the pink packets in the container 14- Place the pink packets in the container 15- Place the pink packets in the container 16- Place the yellow packet in the container 17- Place the yellow packet in the container 18- Place the pink packets in the container 19- Place the sugar packet to the left side of the table 20- Place the sugar packets in the container Q: immediate next step? \u003cPRED\u003eA: Move the packets to right side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Move the packets to right side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packet in the container 2- Place the pink packets in the container 3- Place the pink packets in the container 4- Place the white packet in the container 5- Place the white packets in the container 6- Place the white packets in the container 7- Place the white packets in the container 8- Place the sugar packets in the container 9- Place the white packet in the container 10- Place the sugar packet in the container 11- Place the sugar packets in the container 12- Place the sugar packet in the container 13- Place the pink packets in the container 14- Place the pink packets in the container 15- Place the pink packets in the container 16- Place the yellow packet in the container 17- Place the yellow packet in the container 18- Place the pink packets in the container 19- Place the sugar packet to the left side of the table 20- Place the sugar packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Move the packets to right side of the table 2- Place the sugar packet in the container 3- Place the yellow packet in the table 4- Place the yellow packet in the table 5- Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the packets to right side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the packets to right side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the packets to right side of the table\n\u003c/PRED\u003e","video":"18196747042365591518.mp4"}
+{"uid":"6554606914018121630","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":"10857390806811094180.mp4"}
+{"uid":"9947223001968282277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick  the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12542492656413297714.mp4"}
+{"uid":"9946366491236486071","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the scissors can you put it back and can you bring me a pen from printer room. last 20 steps: 1- pick up the scissor 2- put the scissor into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen 2- put the pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the scissors can you put it back and can you bring me a pen from printer room Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the scissors can you put it back and can you bring me a pen from printer room. last 20 steps: 1- pick up the scissor 2- put the scissor into the pen holder Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e","video":"11637598253451091653.mp4"}
+{"uid":"9805868293817471219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12675641848197447407.mp4"}
+{"uid":"17178407530118003716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12486541490712023023.mp4"}
+{"uid":"157161402659313322","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":"3633719418896744487.mp4"}
+{"uid":"17624963634894573173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"11182221837852600601.mp4"}
+{"uid":"187185290165078991","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packet in the container 2- Place the white packet in the container 3- Place the sugar packet in the container 4- Place the pink packet in the container 5- Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e","video":"17142192961402326376.mp4"}
+{"uid":"4148039943445455733","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the container 2- Place the sugar packet in the container 3- Place the pink packet in the container 4- Place the white packet in the container 5- Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e","video":"4119652667023271795.mp4"}
+{"uid":"6173969234307864178","text":"\u003ctask:success:discrete:False\u003e\nPlace the sugar packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the white packet in the container 2- Place the sugar packet in the container 3- Place the pink packet in the container 4- Place the pink packets in the container 5- Place the pink packets in the container 6- Place the white packets in the container 7- Place the pink packet in the container 8- Place the pink pack in the container 9- Place the pink packet in the container 10- Place the sugar packets in the container 11- Place the sugar packets in the container 12- Place the pink packets in the container 13- Place the pink packets in the container 14- Place the pink packet in the container 15- Place the pink packets in the container 16- Place the pink packets in the container 17- Place the white packet in the container 18- Place the white packets in the container 19- Place the white packets in the container 20- Place the white packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the white packet in the container 2- Place the sugar packet in the container 3- Place the pink packet in the container 4- Place the pink packets in the container 5- Place the pink packets in the container 6- Place the white packets in the container 7- Place the pink packet in the container 8- Place the pink pack in the container 9- Place the pink packet in the container 10- Place the sugar packets in the container 11- Place the sugar packets in the container 12- Place the pink packets in the container 13- Place the pink packets in the container 14- Place the pink packet in the container 15- Place the pink packets in the container 16- Place the pink packets in the container 17- Place the white packet in the container 18- Place the white packets in the container 19- Place the white packets in the container 20- Place the white packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the container 2- Place the white packet in the container 3- Place the sugar packet in the container 4- Place the sugar packets in the container 5- Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e","video":"16422683196654591302.mp4"}
+{"uid":"3606301563467291430","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the white packets in the container 2- Place the white packets in the container 3- Place the white packets in the container 4- Place the sugar packets in the container 5- Place the white packet in the container 6- Place the sugar packet in the container 7- Place the sugar packets in the container 8- Place the sugar packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the pink packets in the container 12- Place the yellow packet in the container 13- Place the yellow packet in the container 14- Place the pink packets in the container 15- Place the sugar packet to the left side of the table 16- Place the sugar packets in the container 17- Move the packets to right side of the table 18- Place the sugar packet in the container 19- Place the yellow packet in the table 20- Place the yellow packet in the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the table 2- Place the yellow packet in the table 3- Place the yellow packet in the table 4- Place the steel tong on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the white packets in the container 2- Place the white packets in the container 3- Place the white packets in the container 4- Place the sugar packets in the container 5- Place the white packet in the container 6- Place the sugar packet in the container 7- Place the sugar packets in the container 8- Place the sugar packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the pink packets in the container 12- Place the yellow packet in the container 13- Place the yellow packet in the container 14- Place the pink packets in the container 15- Place the sugar packet to the left side of the table 16- Place the sugar packets in the container 17- Move the packets to right side of the table 18- Place the sugar packet in the container 19- Place the yellow packet in the table 20- Place the yellow packet in the table Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e","video":"9468219299395430382.mp4"}
+{"uid":"11790506539832605911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14414489539137740992.mp4"}
+{"uid":"14346743029936686941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace white blue marker inside the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17394443864572028535.mp4"}
+{"uid":"17854009025735839506","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the steel tong on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packets in the container 2- Place the white packet in the container 3- Place the sugar packet in the container 4- Place the sugar packets in the container 5- Place the sugar packet in the container 6- Place the pink packets in the container 7- Place the pink packets in the container 8- Place the pink packets in the container 9- Place the yellow packet in the container 10- Place the yellow packet in the container 11- Place the pink packets in the container 12- Place the sugar packet to the left side of the table 13- Place the sugar packets in the container 14- Move the packets to right side of the table 15- Place the sugar packet in the container 16- Place the yellow packet in the table 17- Place the yellow packet in the table 18- Place the yellow packet in the table 19- Place the yellow packet in the table 20- Place the yellow packet in the table Q: immediate next step? \u003cPRED\u003eA: Place the steel tong on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the steel tong on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the steel tong on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packets in the container 2- Place the white packet in the container 3- Place the sugar packet in the container 4- Place the sugar packets in the container 5- Place the sugar packet in the container 6- Place the pink packets in the container 7- Place the pink packets in the container 8- Place the pink packets in the container 9- Place the yellow packet in the container 10- Place the yellow packet in the container 11- Place the pink packets in the container 12- Place the sugar packet to the left side of the table 13- Place the sugar packets in the container 14- Move the packets to right side of the table 15- Place the sugar packet in the container 16- Place the yellow packet in the table 17- Place the yellow packet in the table 18- Place the yellow packet in the table 19- Place the yellow packet in the table 20- Place the yellow packet in the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the steel tong on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the steel tong on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the steel tong on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7038890554421191927.mp4"}
+{"uid":"7710393056499736272","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packets in the container 3- Place the sugar packet in the container 4- Place the pink packet in the container 5- Place the white packet in the container 6- Place the sugar packet in the container 7- Place the pink packet in the container 8- Place the pink packets in the container 9- Place the pink packets in the container 10- Place the white packets in the container 11- Place the pink packet in the container 12- Place the pink pack in the container 13- Place the pink packet in the container 14- Place the sugar packets in the container 15- Place the sugar packets in the container 16- Place the pink packets in the container 17- Place the pink packets in the container 18- Place the pink packet in the container 19- Place the pink packets in the container 20- Place the pink packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packets in the container 3- Place the sugar packet in the container 4- Place the pink packet in the container 5- Place the white packet in the container 6- Place the sugar packet in the container 7- Place the pink packet in the container 8- Place the pink packets in the container 9- Place the pink packets in the container 10- Place the white packets in the container 11- Place the pink packet in the container 12- Place the pink pack in the container 13- Place the pink packet in the container 14- Place the sugar packets in the container 15- Place the sugar packets in the container 16- Place the pink packets in the container 17- Place the pink packets in the container 18- Place the pink packet in the container 19- Place the pink packets in the container 20- Place the pink packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet in the container 2- Place the white packets in the container 3- Place the white packets in the container 4- Place the white packets in the container 5- Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14131544882207176128.mp4"}
+{"uid":"14757571530010927223","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packet in the container 2- Place the pink pack in the container 3- Place the pink packet in the container 4- Place the sugar packets in the container 5- Place the sugar packets in the container 6- Place the pink packets in the container 7- Place the pink packets in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packet in the container 12- Place the white packets in the container 13- Place the white packets in the container 14- Place the white packets in the container 15- Place the sugar packets in the container 16- Place the white packet in the container 17- Place the sugar packet in the container 18- Place the sugar packets in the container 19- Place the sugar packet in the container 20- Place the pink packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packets in the container 2- Place the pink packets in the container 3- Place the yellow packet in the container 4- Place the yellow packet in the container 5- Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packet in the container 2- Place the pink pack in the container 3- Place the pink packet in the container 4- Place the sugar packets in the container 5- Place the sugar packets in the container 6- Place the pink packets in the container 7- Place the pink packets in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packet in the container 12- Place the white packets in the container 13- Place the white packets in the container 14- Place the white packets in the container 15- Place the sugar packets in the container 16- Place the white packet in the container 17- Place the sugar packet in the container 18- Place the sugar packets in the container 19- Place the sugar packet in the container 20- Place the pink packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e","video":"18085445948145296234.mp4"}
+{"uid":"7633572988952033330","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container 15- Place the sugar packets in the container 16- Place the sugar packets in the container 17- Place the pink packets in the container 18- Place the pink packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packet in the container 2- Place the pink packets in the container 3- Place the pink packets in the container 4- Place the white packet in the container 5- Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container 15- Place the sugar packets in the container 16- Place the sugar packets in the container 17- Place the pink packets in the container 18- Place the pink packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2231367365819274767.mp4"}
+{"uid":"12223921505701204974","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the pink packet in the container 3- Place the pink packets in the container 4- Place the pink packets in the container 5- Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15136629393965854883.mp4"}
+{"uid":"8011924831844151758","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"4739392187488010019.mp4"}
+{"uid":"16108493229251215102","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packets in the container 2- Place the sugar packet in the container 3- Place the pink packet in the container 4- Place the white packet in the container 5- Place the sugar packet in the container 6- Place the pink packet in the container 7- Place the pink packets in the container 8- Place the pink packets in the container 9- Place the white packets in the container 10- Place the pink packet in the container 11- Place the pink pack in the container 12- Place the pink packet in the container 13- Place the sugar packets in the container 14- Place the sugar packets in the container 15- Place the pink packets in the container 16- Place the pink packets in the container 17- Place the pink packet in the container 18- Place the pink packets in the container 19- Place the pink packets in the container 20- Place the white packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packets in the container 2- Place the white packets in the container 3- Place the white packets in the container 4- Place the sugar packets in the container 5- Place the white packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packets in the container 2- Place the sugar packet in the container 3- Place the pink packet in the container 4- Place the white packet in the container 5- Place the sugar packet in the container 6- Place the pink packet in the container 7- Place the pink packets in the container 8- Place the pink packets in the container 9- Place the white packets in the container 10- Place the pink packet in the container 11- Place the pink pack in the container 12- Place the pink packet in the container 13- Place the sugar packets in the container 14- Place the sugar packets in the container 15- Place the pink packets in the container 16- Place the pink packets in the container 17- Place the pink packet in the container 18- Place the pink packets in the container 19- Place the pink packets in the container 20- Place the white packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e","video":"16914146648730213121.mp4"}
+{"uid":"15190956556577637679","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4674312091970655476.mp4"}
+{"uid":"7048038961438378056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12712775061910138272.mp4"}
+{"uid":"5738391109650626345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput that fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4098383278781211812.mp4"}
+{"uid":"11636863245718268782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nfix the lid to 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":"16001646172873544900.mp4"}
+{"uid":"7489414766375265736","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packet in the container 2- Place the pink packets in the container 3- Place the pink packets in the container 4- Place the white packets in the container 5- Place the pink packet in the container\n\u003c/PRED\u003e","video":"11877536080098028176.mp4"}
+{"uid":"1143886423811629795","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the white packets in the container 2- Place the sugar packets in the container 3- Place the white packet in the container 4- Place the sugar packet in the container 5- Place the sugar packets in the container 6- Place the sugar packet in the container 7- Place the pink packets in the container 8- Place the pink packets in the container 9- Place the pink packets in the container 10- Place the yellow packet in the container 11- Place the yellow packet in the container 12- Place the pink packets in the container 13- Place the sugar packet to the left side of the table 14- Place the sugar packets in the container 15- Move the packets to right side of the table 16- Place the sugar packet in the container 17- Place the yellow packet in the table 18- Place the yellow packet in the table 19- Place the yellow packet in the table 20- Place the yellow packet in the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the table 2- Place the steel tong on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the white packets in the container 2- Place the sugar packets in the container 3- Place the white packet in the container 4- Place the sugar packet in the container 5- Place the sugar packets in the container 6- Place the sugar packet in the container 7- Place the pink packets in the container 8- Place the pink packets in the container 9- Place the pink packets in the container 10- Place the yellow packet in the container 11- Place the yellow packet in the container 12- Place the pink packets in the container 13- Place the sugar packet to the left side of the table 14- Place the sugar packets in the container 15- Move the packets to right side of the table 16- Place the sugar packet in the container 17- Place the yellow packet in the table 18- Place the yellow packet in the table 19- Place the yellow packet in the table 20- Place the yellow packet in the table Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e","video":"14066455626960642540.mp4"}
+{"uid":"13641484318879217697","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the white packet in the container 2- Place the white packets in the container 3- Place the white packets in the container 4- Place the white packets in the container 5- Place the sugar packets in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the sugar packets in the container 9- Place the sugar packet in the container 10- Place the pink packets in the container 11- Place the pink packets in the container 12- Place the pink packets in the container 13- Place the yellow packet in the container 14- Place the yellow packet in the container 15- Place the pink packets in the container 16- Place the sugar packet to the left side of the table 17- Place the sugar packets in the container 18- Move the packets to right side of the table 19- Place the sugar packet in the container 20- Place the yellow packet in the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the table 2- Place the yellow packet in the table 3- Place the yellow packet in the table 4- Place the yellow packet in the table 5- Place the steel tong on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the white packet in the container 2- Place the white packets in the container 3- Place the white packets in the container 4- Place the white packets in the container 5- Place the sugar packets in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the sugar packets in the container 9- Place the sugar packet in the container 10- Place the pink packets in the container 11- Place the pink packets in the container 12- Place the pink packets in the container 13- Place the yellow packet in the container 14- Place the yellow packet in the container 15- Place the pink packets in the container 16- Place the sugar packet to the left side of the table 17- Place the sugar packets in the container 18- Move the packets to right side of the table 19- Place the sugar packet in the container 20- Place the yellow packet in the table Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the table\n\u003c/PRED\u003e","video":"15345991111953924288.mp4"}
+{"uid":"17179873724723933319","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11048025732921079921.mp4"}
+{"uid":"13707485684930721670","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5105331598790331943.mp4"}
+{"uid":"9007020114977059971","text":"\u003ctask:success:discrete:False\u003e\nPlace the white packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packet in the container 2- Place the pink packet in the container 3- Place the white packet in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the pink packets in the container 7- Place the pink packets in the container 8- Place the white packets in the container 9- Place the pink packet in the container 10- Place the pink pack in the container 11- Place the pink packet in the container 12- Place the sugar packets in the container 13- Place the sugar packets in the container 14- Place the pink packets in the container 15- Place the pink packets in the container 16- Place the pink packet in the container 17- Place the pink packets in the container 18- Place the pink packets in the container 19- Place the white packet in the container 20- Place the white packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the sugar packet in the container 2- Place the pink packet in the container 3- Place the white packet in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the pink packets in the container 7- Place the pink packets in the container 8- Place the white packets in the container 9- Place the pink packet in the container 10- Place the pink pack in the container 11- Place the pink packet in the container 12- Place the sugar packets in the container 13- Place the sugar packets in the container 14- Place the pink packets in the container 15- Place the pink packets in the container 16- Place the pink packet in the container 17- Place the pink packets in the container 18- Place the pink packets in the container 19- Place the white packet in the container 20- Place the white packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packets in the container 2- Place the white packets in the container 3- Place the sugar packets in the container 4- Place the white packet in the container 5- Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7742808242340107974.mp4"}
+{"uid":"15175911914001034224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the fish Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16503277345922084685.mp4"}
+{"uid":"15860955261637920093","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana on the pink plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4561653256632228551.mp4"}
+{"uid":"2751069825054046540","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the scissors can you put it back and can you bring me a pen from printer room Q: immediate next step? \u003cPRED\u003eA: pick up the scissor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the scissor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the scissor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the scissor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the scissors can you put it back and can you bring me a pen from printer room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the scissor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the scissors can you put it back and can you bring me a pen from printer room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the scissor 2- put the scissor into the pen holder 3- pick up the pen 4- put the pen on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the scissor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7718303224060447776.mp4"}
+{"uid":"17998195631654854947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop scrub in a bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1639440204937224663.mp4"}
+{"uid":"1559723839868030919","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":"3854719786412362459.mp4"}
+{"uid":"2496121301178399472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5802280712570010774.mp4"}
+{"uid":"15717390997885247651","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packets in the container 2- Place the white packets in the container 3- Place the pink packet in the container 4- Place the pink pack in the container 5- Place the pink packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Place the pink packets in the container 9- Place the pink packets in the container 10- Place the pink packet in the container 11- Place the pink packets in the container 12- Place the pink packets in the container 13- Place the white packet in the container 14- Place the white packets in the container 15- Place the white packets in the container 16- Place the white packets in the container 17- Place the sugar packets in the container 18- Place the white packet in the container 19- Place the sugar packet in the container 20- Place the sugar packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the pink packets in the container 3- Place the pink packets in the container 4- Place the pink packets in the container 5- Place the yellow packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packets in the container 2- Place the white packets in the container 3- Place the pink packet in the container 4- Place the pink pack in the container 5- Place the pink packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Place the pink packets in the container 9- Place the pink packets in the container 10- Place the pink packet in the container 11- Place the pink packets in the container 12- Place the pink packets in the container 13- Place the white packet in the container 14- Place the white packets in the container 15- Place the white packets in the container 16- Place the white packets in the container 17- Place the sugar packets in the container 18- Place the white packet in the container 19- Place the sugar packet in the container 20- Place the sugar packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9044707754761563418.mp4"}
+{"uid":"6864110925666830588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10665861496791135079.mp4"}
+{"uid":"12773121825045415564","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packet in the container 2- Place the sugar packets in the container 3- Place the sugar packets in the container 4- Place the pink packets in the container 5- Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16817561345792373319.mp4"}
+{"uid":"12512583619270628680","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":"13589622339185586518.mp4"}
+{"uid":"4955898444543267339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop yellow highlighter 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":"15560446439742521771.mp4"}
+{"uid":"1853891299207066317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4573579674340507670.mp4"}
+{"uid":"18188110581845597106","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container 15- Place the sugar packets in the container 16- Place the sugar packets in the container 17- Place the pink packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container 13- Place the pink pack in the container 14- Place the pink packet in the container 15- Place the sugar packets in the container 16- Place the sugar packets in the container 17- Place the pink packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packets in the container 2- Place the pink packet in the container 3- Place the pink packets in the container 4- Place the pink packets in the container 5- Place the white packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9466439215257163124.mp4"}
+{"uid":"17202173391980914453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the plastic scoop in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6502290603018327157.mp4"}
+{"uid":"4107384216580537209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput paper clip in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15559172997944882901.mp4"}
+{"uid":"4474781430306515412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop knives in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15053351680568422878.mp4"}
+{"uid":"14542875949100545577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2829163935167427173.mp4"}
+{"uid":"7635096736944925912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13033172022990450664.mp4"}
+{"uid":"7979678432127632954","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"6952741493656859691.mp4"}
+{"uid":"8104338362898991732","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink pack in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink pack in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink pack in the container 2- Place the pink packet in the container 3- Place the sugar packets in the container 4- Place the sugar packets in the container 5- Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink pack in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container 10- Place the pink packets in the container 11- Place the white packets in the container 12- Place the pink packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink pack in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink pack in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink pack in the container\n\u003c/PRED\u003e","video":"11400883243108357717.mp4"}
+{"uid":"2085028078365276009","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container 6- Place the white packet in the container 7- Place the sugar packet in the container 8- Place the pink packet in the container 9- Place the pink packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packets in the container 2- Place the white packets in the container 3- Place the pink packet in the container 4- Place the pink pack in the container 5- Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1574443540882983444.mp4"}
+{"uid":"14645576502311068092","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packets in the container 2- Place the pink packets in the container 3- Place the pink packet in the container 4- Place the pink packets in the container 5- Place the pink packets in the container 6- Place the white packet in the container 7- Place the white packets in the container 8- Place the white packets in the container 9- Place the white packets in the container 10- Place the sugar packets in the container 11- Place the white packet in the container 12- Place the sugar packet in the container 13- Place the sugar packets in the container 14- Place the sugar packet in the container 15- Place the pink packets in the container 16- Place the pink packets in the container 17- Place the pink packets in the container 18- Place the yellow packet in the container 19- Place the yellow packet in the container 20- Place the pink packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet to the left side of the table 2- Place the sugar packets in the container 3- Move the packets to right side of the table 4- Place the sugar packet in the container 5- Place the yellow packet in the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet to the left side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet to the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet to the left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packets in the container 2- Place the pink packets in the container 3- Place the pink packet in the container 4- Place the pink packets in the container 5- Place the pink packets in the container 6- Place the white packet in the container 7- Place the white packets in the container 8- Place the white packets in the container 9- Place the white packets in the container 10- Place the sugar packets in the container 11- Place the white packet in the container 12- Place the sugar packet in the container 13- Place the sugar packets in the container 14- Place the sugar packet in the container 15- Place the pink packets in the container 16- Place the pink packets in the container 17- Place the pink packets in the container 18- Place the yellow packet in the container 19- Place the yellow packet in the container 20- Place the pink packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet to the left side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet to the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet to the left side of the table\n\u003c/PRED\u003e","video":"13071046818741178917.mp4"}
+{"uid":"15537560566069248522","text":"\u003ctask:success:discrete:True\u003e\nPlace the pink packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pink packets in the container\n\u003c/PRED\u003e","video":"14644728901898345808.mp4"}
+{"uid":"15000373291869354273","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16884752332697595642.mp4"}
+{"uid":"15985521288770195326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the wet wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11981726017087584883.mp4"}
+{"uid":"15061202396545598842","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":"8482080597976117223.mp4"}
+{"uid":"12907827413116472327","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up steel tong Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 steel tong\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up steel tong 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the pink packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up steel tong\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up steel tong Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 steel tong\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Pick up steel tong\n\u003c/PRED\u003e","video":"7778506067389652712.mp4"}
+{"uid":"3071819845209144155","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"63626616236430949.mp4"}
+{"uid":"5311793385964040153","text":"\u003ctask:success:discrete:False\u003e\nPlace the white packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray Q: immediate next step? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packet in the container 2- Place the white packet in the container 3- Place the sugar packet in the container 4- Place the pink packet in the container 5- Place the pink packets in the container 6- Place the pink packets in the container 7- Place the white packets in the container 8- Place the pink packet in the container 9- Place the pink pack in the container 10- Place the pink packet in the container 11- Place the sugar packets in the container 12- Place the sugar packets in the container 13- Place the pink packets in the container 14- Place the pink packets in the container 15- Place the pink packet in the container 16- Place the pink packets in the container 17- Place the pink packets in the container 18- Place the white packet in the container 19- Place the white packets in the container 20- Place the white packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the condiments back into the condiment tray. last 20 steps: 1- Place the pink packet in the container 2- Place the white packet in the container 3- Place the sugar packet in the container 4- Place the pink packet in the container 5- Place the pink packets in the container 6- Place the pink packets in the container 7- Place the white packets in the container 8- Place the pink packet in the container 9- Place the pink pack in the container 10- Place the pink packet in the container 11- Place the sugar packets in the container 12- Place the sugar packets in the container 13- Place the pink packets in the container 14- Place the pink packets in the container 15- Place the pink packet in the container 16- Place the pink packets in the container 17- Place the pink packets in the container 18- Place the white packet in the container 19- Place the white packets in the container 20- Place the white packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packets in the container 2- Place the sugar packets in the container 3- Place the white packet in the container 4- Place the sugar packet in the container 5- Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2315819743682611825.mp4"}