diff --git "a/json/train/data-00008-of-00160.json" "b/json/train/data-00008-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00008-of-00160.json"
@@ -0,0 +1,1452 @@
+{"uid":"7979031915650930544","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- unstack the bowl 3- open the drawer 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"2186059012009670221.mp4"}
+{"uid":"6111642086084238277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sugar packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17269081433133813896.mp4"}
+{"uid":"10728330875295293510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16796207140718117232.mp4"}
+{"uid":"4828513722576984453","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18149625943233697491.mp4"}
+{"uid":"18025791513958546524","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9989372678028940590.mp4"}
+{"uid":"4552532765050025532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17157189787504838219.mp4"}
+{"uid":"12423440139457150001","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the black chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"16710159247762387563.mp4"}
+{"uid":"18136378763858663651","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop white sugar packet in an organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1890387393036677479.mp4"}
+{"uid":"9369023321697799401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"48597792763554549.mp4"}
+{"uid":"12039770668212906634","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15119147827538760748.mp4"}
+{"uid":"13781609280605437158","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl on the table 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e","video":"1235410125585028710.mp4"}
+{"uid":"11758030162321490913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the yellow marker from the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"185086511830258242.mp4"}
+{"uid":"14201303731693030201","text":"\u003ctask:success:discrete:False\u003e\nput the white packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the bowl 2- put the blue chocolate in the bowl 3- drop packet into bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e","video":"12565993098652462494.mp4"}
+{"uid":"12020035624770483028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1443731198248344777.mp4"}
+{"uid":"3252269187460456442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10313166015013690664.mp4"}
+{"uid":"6604550202664049765","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on table 2- open the drawer 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on table\n\u003c/PRED\u003e","video":"7073681517194652047.mp4"}
+{"uid":"3916544198835825295","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the black chocolate in the bowl 5- put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e","video":"7248586913028066121.mp4"}
+{"uid":"17393695213648983135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang the cap in the coat rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11461581202505423996.mp4"}
+{"uid":"15308747102656985908","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the rxbar chocolate in the top right bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the rxbar chocolate in the top right bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18042843499183724932.mp4"}
+{"uid":"11225062069408759481","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into bowl 2- put the black chocolate in the bowl 3- put the white packet in the bowl 4- put the blue chocolate in the bowl 5- drop packet into bowl\n\u003c/PRED\u003e","video":"7865307690605747665.mp4"}
+{"uid":"13481166475637531059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15259377132656295513.mp4"}
+{"uid":"5185908579897493810","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl 11- put the blue chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl 11- put the blue chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8656176629514185513.mp4"}
+{"uid":"2223261795225812620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue book in shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13436235720503840608.mp4"}
+{"uid":"7201544484483248973","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop chocolate into bowl 2- put the blue chocolate in the bowl 3- drop packet into bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop chocolate into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop chocolate into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15668916506730295845.mp4"}
+{"uid":"16339875754549438512","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue chocolate in the bowl 2- drop packet into bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the blue chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the blue chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue chocolate in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue chocolate in the bowl\n\u003c/PRED\u003e","video":"15402532376931168720.mp4"}
+{"uid":"16014746771124366327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16003317468367139273.mp4"}
+{"uid":"16115200443542951436","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in the big bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11775811653366719814.mp4"}
+{"uid":"2468872229905503888","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl 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":"10432222762542671791.mp4"}
+{"uid":"5165801755863389747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16014542653218000358.mp4"}
+{"uid":"13874864769916180156","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the big bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the big bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the black chocolate in the bowl 5- put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e","video":"11930775704468181446.mp4"}
+{"uid":"13037403359151843194","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into bowl 2- put the orange in the bowl 3- put the black chocolate in the bowl 4- put the white packet in the bowl 5- put the blue chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e","video":"6311288282228384928.mp4"}
+{"uid":"17099455740423939821","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the wet wipes packet in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18005629869528131781.mp4"}
+{"uid":"10101242034178701331","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop chocolate into bowl 2- drop packet into bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop chocolate into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e","video":"11315904873773594437.mp4"}
+{"uid":"16149041677991275815","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sanitizer bottle in the trolley. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11099666502097265820.mp4"}
+{"uid":"8600166670885431471","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"12200180749919337638.mp4"}
+{"uid":"2925511916069716085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the white sachet 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":"17333637929875132675.mp4"}
+{"uid":"15974589079502369723","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the rxbar chocolate in the top right bowl 2- put the white packet in the bowl 3- put the blue chocolate in the bowl 4- drop packet into bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the rxbar chocolate in the top right bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the rxbar chocolate in the top right bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the rxbar chocolate in the top right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the rxbar chocolate in the top right bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the rxbar chocolate in the top right bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Put the rxbar chocolate in the top right bowl\n\u003c/PRED\u003e","video":"6218433451416155721.mp4"}
+{"uid":"13720356429996864656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio into coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16019793743355891240.mp4"}
+{"uid":"10672794356296971964","text":"\u003ctask:success:discrete:True\u003e\ndrop chocolate into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e","video":"4239731535713513166.mp4"}
+{"uid":"11340025300240067857","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the big bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the big bowl 2- put the black chocolate in the bowl 3- put the white packet in the bowl 4- put the blue chocolate in the bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e","video":"775627647883724017.mp4"}
+{"uid":"15784424513936451639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4311141836995436122.mp4"}
+{"uid":"7737514032922756324","text":"\u003ctask:success:discrete:True\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"2669240385303285236.mp4"}
+{"uid":"13276052868447822720","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6641171930282075968.mp4"}
+{"uid":"14436466934054330017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop paper into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15864394320976450817.mp4"}
+{"uid":"5882777719258562541","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black chocolate in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the black chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the black chocolate in the bowl 2- put the white packet in the bowl 3- put the blue chocolate in the bowl 4- drop packet into bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the black chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black chocolate in the bowl\n\u003c/PRED\u003e","video":"6463338220291945906.mp4"}
+{"uid":"2379216598309253074","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5990255981700355649.mp4"}
+{"uid":"2231831537060216340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the basket 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":"3133072891588679123.mp4"}
+{"uid":"11065865145551798754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop apple into box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the oreo packet in the bottom left bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the oreo packet in the bottom left bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl 11- put the blue chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the oreo packet in the bottom left bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the oreo packet in the bottom left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl 11- put the blue chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the oreo packet in the bottom left bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Put the oreo packet in the bottom left bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the oreo packet in the bottom left bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14251647987922390768.mp4"}
+{"uid":"16097540735542298625","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14651035577257388794.mp4"}
+{"uid":"10633823154325305692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9459125441670271041.mp4"}
+{"uid":"12282060680648528851","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue chocolate in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9756195209245661245.mp4"}
+{"uid":"3473465671282125052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the duck toy on the right side of the other duck toy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12561766201247408630.mp4"}
+{"uid":"18149359265026703125","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4019594392373022474.mp4"}
+{"uid":"18214110238452149517","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10810224826307753177.mp4"}
+{"uid":"7439336794512984392","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl 11- put the blue chocolate in the bowl 12- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl 11- put the blue chocolate in the bowl 12- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3963535502311317232.mp4"}
+{"uid":"1152456237849852546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop white candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10715583227966923055.mp4"}
+{"uid":"13704446423644236926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn the glass upside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5968553525262355012.mp4"}
+{"uid":"995079725425915823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange ball in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"690789322248314420.mp4"}
+{"uid":"1567173160492945873","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the black chocolate in the bowl 3- put the white packet in the bowl 4- put the blue chocolate in the bowl 5- drop packet into bowl\n\u003c/PRED\u003e","video":"16602068999512035498.mp4"}
+{"uid":"7830684273472497438","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the black chocolate in the bowl 5- put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"2085031793444359286.mp4"}
+{"uid":"337240400511073563","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npull the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5431899844394976053.mp4"}
+{"uid":"4046196344228667964","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl on the table 2- unstack the bowl 3- open the drawer 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e","video":"4022986713004134734.mp4"}
+{"uid":"13240863690496209168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWipe the whiteboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16323411090716566547.mp4"}
+{"uid":"8422610135662602929","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the black chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7332854598899326923.mp4"}
+{"uid":"9628176071910947746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cherries in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11895198127022777955.mp4"}
+{"uid":"13123609763938291132","text":"\u003ctask:success:discrete:True\u003e\ndrop chocolate into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e","video":"13177337841309145999.mp4"}
+{"uid":"624185173655404557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11402081374659390656.mp4"}
+{"uid":"8295055350135718056","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the bowl 3- put the black chocolate in the bowl 4- put the white packet in the bowl 5- put the blue chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"14186317278589842171.mp4"}
+{"uid":"7571400148288687682","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop chocolate into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7170821223161201106.mp4"}
+{"uid":"13499345185136394421","text":"\u003ctask:success:discrete:True\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e","video":"1516720092382250607.mp4"}
+{"uid":"8784833570762172145","text":"\u003ctask:success:discrete:True\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"8259444382614609125.mp4"}
+{"uid":"1151400487904750972","text":"\u003ctask:success:discrete:True\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"5430164951215354337.mp4"}
+{"uid":"2712493018197351143","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the big bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the black chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the big bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e","video":"6597054199123870639.mp4"}
+{"uid":"6483750271565463064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange sugar 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":"9774735826870626025.mp4"}
+{"uid":"6613232911706947117","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop chocolate into bowl 2- drop packet into bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop chocolate into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop chocolate into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12416118244961777203.mp4"}
+{"uid":"14791632381755712494","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl 11- put the blue chocolate in the bowl 12- put the blue packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl 11- put the blue chocolate in the bowl 12- put the blue packet in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6104492481414547141.mp4"}
+{"uid":"2413454133550340264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7061988063074003830.mp4"}
+{"uid":"15587341187128442553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop fork into coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9373037407723650977.mp4"}
+{"uid":"7729966926645541179","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- open the drawer 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e","video":"12881506360132589726.mp4"}
+{"uid":"11319509063081977018","text":"\u003ctask:success:discrete:True\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e","video":"17895562892012570023.mp4"}
+{"uid":"591642119872980367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17402333084533066505.mp4"}
+{"uid":"917287247942412052","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the big bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the big bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the big bowl 2- put the orange in the bowl 3- put the black chocolate in the bowl 4- put the white packet in the bowl 5- put the blue chocolate in the bowl\n\u003c/PRED\u003e","video":"5407740841668318210.mp4"}
+{"uid":"3479471910940944523","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on table 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4917419972482024024.mp4"}
+{"uid":"17857488714809871544","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into bowl 2- put the white packet in the bowl 3- put the blue chocolate in the bowl 4- drop packet into bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e","video":"7986955216381104571.mp4"}
+{"uid":"7018708708196991686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow 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":"12289468935066914453.mp4"}
+{"uid":"17039903621025955560","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl on the table 2- open the drawer 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e","video":"14750457025814602007.mp4"}
+{"uid":"9063331559867987218","text":"\u003ctask:success:discrete:False\u003e\nPut the rxbar blueberry in the bottom right bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the rxbar blueberry in the bottom right bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the rxbar blueberry in the bottom right bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the rxbar blueberry in the bottom right bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Put the rxbar blueberry in the bottom right bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the rxbar blueberry in the bottom right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the rxbar blueberry in the bottom right bowl 2- drop packet into bowl 3- done\n\u003c/PRED\u003e","video":"7220312108298126768.mp4"}
+{"uid":"14167207277624831967","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":"14966121747697998675.mp4"}
+{"uid":"3382428270012509375","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the black chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"10517269054924776275.mp4"}
+{"uid":"11404099351974644730","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black chocolate in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11925993334173658588.mp4"}
+{"uid":"10816486108872174351","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the milano dark chocolate in the top left bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the milano dark chocolate in the top left bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the milano dark chocolate in the top left bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the milano dark chocolate in the top left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the milano dark chocolate in the top left bowl 2- put the blue chocolate in the bowl 3- drop packet into bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Put the milano dark chocolate in the top left bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the milano dark chocolate in the top left bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1939940649419024008.mp4"}
+{"uid":"10081353196300301588","text":"\u003ctask:success:discrete:False\u003e\nput the blue packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl 11- put the blue chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- unstack the bowl 2- unstack the bowl 3- unstack the bowl 4- open the drawer 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl 9- put the black chocolate in the bowl 10- put the white packet in the bowl 11- put the blue chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"283977193671088480.mp4"}
+{"uid":"954474544854877037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brown paper cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7744001915213671596.mp4"}
+{"uid":"2913445572503628820","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- put the pen into the pen holder 3- exit the room 4- enter the room 5- place the pen holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e","video":"11227510783243696313.mp4"}
+{"uid":"296770786766190287","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- place the pen into the pen holder 3- drop the pen into the pen holder 4- put the pen into the pen holder 5- exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"3051757659278602966.mp4"}
+{"uid":"3927365876065973624","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- place the pen into the pen holder 3- put the pen into the pen holder 4- place the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"10921591090807897211.mp4"}
+{"uid":"8242674046842053524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2805961529879036586.mp4"}
+{"uid":"974688046344860796","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":"9884502871082796238.mp4"}
+{"uid":"8758869953978674564","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen into the pen holder 2- put the pen into the pen holder 3- place the pen into the pen holder 4- drop the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e","video":"5105390408431478692.mp4"}
+{"uid":"4460480613785064556","text":"\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder 15- drop the pen into the pen holder 16- put the pen into the pen holder 17- exit the room 18- enter the room 19- place the pen holder on the table Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder 15- drop the pen into the pen holder 16- put the pen into the pen holder 17- exit the room 18- enter the room 19- place the pen holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"914443832334565199.mp4"}
+{"uid":"687873065154710084","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished my snacks but forgot to clean up, can you throw way my trash in the recycle bin and compostables bin. last 20 steps: 1- put paper in the dust bin Q: immediate next step? \u003cPRED\u003eA: put cup in the dust bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i finished my snacks but forgot to clean up, can you throw way my trash in the recycle bin and compostables bin Q: immediate next step? \u003cPRED\u003eA: put cup in the dust bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup in the dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup in the dust bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished my snacks but forgot to clean up, can you throw way my trash in the recycle bin and compostables bin. last 20 steps: 1- put paper in the dust bin Q: next 5 steps? \u003cPRED\u003eA: 1- put cup in the dust bin 2- put cup in the dust bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup in the dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14358927834950626442.mp4"}
+{"uid":"17760165173727389955","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen holder on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder 15- drop the pen into the pen holder 16- put the pen into the pen holder 17- exit the room 18- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen holder on the table 2- close the door 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder 15- drop the pen into the pen holder 16- put the pen into the pen holder 17- exit the room 18- enter the room Q: immediate next step? \u003cPRED\u003eA: place the pen holder on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: place the pen holder on the table\n\u003c/PRED\u003e","video":"4420460180275178767.mp4"}
+{"uid":"7925331610949828204","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":"1614322755695814657.mp4"}
+{"uid":"2106475141343834715","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup in the dust bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished my snacks but forgot to clean up, can you throw way my trash in the recycle bin and compostables bin. last 20 steps: 1- put paper in the dust bin 2- put cup in the dust bin Q: next 5 steps? \u003cPRED\u003eA: 1- put cup in the dust bin 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup in the dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished my snacks but forgot to clean up, can you throw way my trash in the recycle bin and compostables bin. last 20 steps: 1- put paper in the dust bin 2- put cup in the dust bin Q: immediate next step? \u003cPRED\u003eA: put cup in the dust bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup in the dust bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i finished my snacks but forgot to clean up, can you throw way my trash in the recycle bin and compostables bin Q: immediate next step? \u003cPRED\u003eA: put cup in the dust bin\n\u003c/PRED\u003e","video":"9434482355799865496.mp4"}
+{"uid":"5041927156787261511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6118156525669908101.mp4"}
+{"uid":"5171188175281316969","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen into the pen holder 2- drop the pen into the pen holder 3- put the pen into the pen holder 4- place the pen into the pen holder 5- drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e","video":"12236308725417631234.mp4"}
+{"uid":"14322679486123691162","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":"12466539015096854144.mp4"}
+{"uid":"14133314343281426936","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- place the pen into the pen holder 3- drop the pen into the pen holder 4- put the pen into the pen holder 5- place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"14222541090416448418.mp4"}
+{"uid":"12322461803443850293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2011105666810186432.mp4"}
+{"uid":"6791034977727403134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15631700132551889090.mp4"}
+{"uid":"5955245803102736839","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen into the pen holder 2- drop the pen into the pen holder 3- put the pen into the pen holder 4- exit the room 5- enter the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e","video":"3636439461447741370.mp4"}
+{"uid":"13012911392364728389","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- put the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e","video":"611413098041381352.mp4"}
+{"uid":"18004141601846765191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2546115376252668863.mp4"}
+{"uid":"10810058987428836024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow  stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11390784608276815334.mp4"}
+{"uid":"14783065352391233091","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- place the pen into the pen holder 3- put the pen into the pen holder 4- drop the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e","video":"6824830958257577415.mp4"}
+{"uid":"4452528894420809736","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder 15- drop the pen into the pen holder 16- put the pen into the pen holder 17- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- place the pen holder on the table 3- close the door 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder 15- drop the pen into the pen holder 16- put the pen into the pen holder 17- exit the room Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e","video":"15458526906234059768.mp4"}
+{"uid":"12721306387192170006","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder 15- drop the pen into the pen holder 16- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- enter the room 3- place the pen holder on the table 4- close the door 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder 15- drop the pen into the pen holder 16- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"3935203785279079996.mp4"}
+{"uid":"17709739963902172322","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- put the pen into the pen holder 3- place the pen into the pen holder 4- drop the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e","video":"1614598276319916825.mp4"}
+{"uid":"4960668554444625349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ncover the jar with the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14350440860149901758.mp4"}
+{"uid":"7241714587413698097","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- place the pen into the pen holder 3- put the pen into the pen holder 4- place the pen into the pen holder 5- drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"12268937051896954330.mp4"}
+{"uid":"17003394929310581277","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen into the pen holder 2- put the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e","video":"13570155226397921793.mp4"}
+{"uid":"15859442430121143541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup on coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12772249883246870887.mp4"}
+{"uid":"5809528271496381192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the red packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11042199394285036688.mp4"}
+{"uid":"1596917286537277821","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- put the pen into the pen holder 4- place the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12490113593976295664.mp4"}
+{"uid":"15664070583558444311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"391879766346726743.mp4"}
+{"uid":"6384470817805347501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the orange cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5249243175869325783.mp4"}
+{"uid":"12727740204391101360","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4474954092323485505.mp4"}
+{"uid":"5990360810098550217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky note 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":"10205308564991651634.mp4"}
+{"uid":"16461300678457866335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the red cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7671458126952613469.mp4"}
+{"uid":"10154928275380113048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove backwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9827370874467930523.mp4"}
+{"uid":"10543778116176246233","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put paper in the dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput paper in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8568158536857044213.mp4"}
+{"uid":"15859872650149608817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4700676507427773961.mp4"}
+{"uid":"18322902560481180591","text":"\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder 15- drop the pen into the pen holder 16- put the pen into the pen holder 17- exit the room 18- enter the room 19- place the pen holder on the table 20- close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder 15- drop the pen into the pen holder 16- put the pen into the pen holder 17- exit the room 18- enter the room 19- place the pen holder on the table 20- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11779791061073607185.mp4"}
+{"uid":"14518187898454490038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the Ethernet shield box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4786725262329636129.mp4"}
+{"uid":"12737268574867095767","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper in the dust bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished my snacks but forgot to clean up, can you throw way my trash in the recycle bin and compostables bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put paper in the dust bin 2- put cup in the dust bin 3- put cup in the dust bin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper in the dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper in the dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished my snacks but forgot to clean up, can you throw way my trash in the recycle bin and compostables bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put paper in the dust bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i finished my snacks but forgot to clean up, can you throw way my trash in the recycle bin and compostables bin Q: immediate next step? \u003cPRED\u003eA: put paper in the dust bin\n\u003c/PRED\u003e","video":"10631112253285182850.mp4"}
+{"uid":"2249615274152407331","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder 15- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- exit the room 3- enter the room 4- place the pen holder on the table 5- close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder 6- put the pen into the pen holder 7- place the pen into the pen holder 8- put the pen into the pen holder 9- place the pen into the pen holder 10- put the pen into the pen holder 11- place the pen into the pen holder 12- drop the pen into the pen holder 13- put the pen into the pen holder 14- place the pen into the pen holder 15- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"15828561135341638115.mp4"}
+{"uid":"11980626744191244182","text":"\u003ctask:success:discrete:True\u003e\nput cup in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished my snacks but forgot to clean up, can you throw way my trash in the recycle bin and compostables bin. last 20 steps: 1- put paper in the dust bin 2- put cup in the dust bin 3- put cup in the dust bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished my snacks but forgot to clean up, can you throw way my trash in the recycle bin and compostables bin. last 20 steps: 1- put paper in the dust bin 2- put cup in the dust bin 3- put cup in the dust bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup in the dust bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i finished my snacks but forgot to clean up, can you throw way my trash in the recycle bin and compostables bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13658868033844700272.mp4"}
+{"uid":"4642378494364015258","text":"\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- drop the pen into the pen holder 3- place the pen into the pen holder 4- put the pen into the pen holder 5- drop the pen into the pen holder\n\u003c/PRED\u003e","video":"3014942930159707141.mp4"}
+{"uid":"8793244646084402412","text":"\u003ctask:success:discrete:True\u003e\nput cup in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup in the dust bin\n\u003c/PRED\u003e","video":"13984934472823299049.mp4"}
+{"uid":"3189410886268058926","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen into the pen holder 2- put the pen into the pen holder 3- drop the pen into the pen holder 4- put the pen into the pen holder 5- place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. Q: immediate next step? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the cup with red pens and put them on the table in the phone room. please close the door on your way out. last 20 steps: 1- put the pen into the pen holder 2- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen into the pen holder\n\u003c/PRED\u003e","video":"8216751960542986170.mp4"}
+{"uid":"1050233876362901692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange plate 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":"1610442854168942481.mp4"}
+{"uid":"2622374500705498347","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies 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":"17428622272115370384.mp4"}
+{"uid":"9981696866880591118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fourth redbull can on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9638434255276779329.mp4"}
+{"uid":"18430482076027122661","text":"\u003ctask:success:discrete:False\u003e\nPut the blue packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in the basket 2- drop packet in a basket 3- drop packet in a basket 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e","video":"14358366626931308840.mp4"}
+{"uid":"236415783202856599","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket 6- drop packet in a basket 7- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket 6- drop packet in a basket 7- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11719639802879644873.mp4"}
+{"uid":"11165096613235425498","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the light green packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the light green packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10894588599598637992.mp4"}
+{"uid":"13421338105736866209","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the light green packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the light green packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the light green packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the light green packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the light green packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the light green packet in the basket 2- drop packet in a basket 3- drop packet in a basket 4- drop packet in a basket 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the light green packet in the basket\n\u003c/PRED\u003e","video":"11821714383991964822.mp4"}
+{"uid":"2538842064618004051","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the light green packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the light green packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8537924709062107038.mp4"}
+{"uid":"10102250243901818031","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket 6- drop packet in a basket 7- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket 6- drop packet in a basket 7- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10128148586133100760.mp4"}
+{"uid":"15008473529660670322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a sticky note in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10583049061164056633.mp4"}
+{"uid":"14869612290624613772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7300169943859533763.mp4"}
+{"uid":"729812377690001511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5669654010635983463.mp4"}
+{"uid":"16972538448173160282","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket Q: immediate next step? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet in a basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet in a basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet in a basket 2- drop packet in a basket 3- close the drawer 4- done\n\u003c/PRED\u003e","video":"14471001038423927173.mp4"}
+{"uid":"7597305094776351751","text":"\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"13493413079350326211.mp4"}
+{"uid":"8391923931575032439","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the jalapeno bag in the basket 2- drop packet in a basket 3- drop packet in a basket 4- drop packet in a basket 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the jalapeno bag in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the jalapeno bag in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the jalapeno bag in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the jalapeno bag in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: put the jalapeno bag in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the jalapeno bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"544239726693018605.mp4"}
+{"uid":"13963059499200696597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1715054244972909434.mp4"}
+{"uid":"13210489680990898864","text":"\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"15732434265942791123.mp4"}
+{"uid":"3657786528876514675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the numi tea bag box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15398802590489268755.mp4"}
+{"uid":"8055238018398121007","text":"\u003ctask:success:discrete:True\u003e\ndrop packet in a basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e","video":"17184277057946957089.mp4"}
+{"uid":"4713546428980051868","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":"5606212170057906294.mp4"}
+{"uid":"9005043259188965980","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"1624619527093832734.mp4"}
+{"uid":"3059868365644215175","text":"\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4024518861670904960.mp4"}
+{"uid":"7085810062091656191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput coke can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12932755945795470330.mp4"}
+{"uid":"9240561372121933742","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2947319186049938042.mp4"}
+{"uid":"17842594064942334566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the two packets 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":"3171111422505284008.mp4"}
+{"uid":"3538182042336428340","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket 6- drop packet in a basket Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket 6- drop packet in a basket Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"14302961835221457523.mp4"}
+{"uid":"7230574484635066430","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1586436277581429456.mp4"}
+{"uid":"935146055858815110","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11901088348104610964.mp4"}
+{"uid":"140233559155781242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachios in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12331114633144090987.mp4"}
+{"uid":"3481649221363653032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the right side red pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9912334840868344056.mp4"}
+{"uid":"714584073458446229","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4597284634743979512.mp4"}
+{"uid":"4493881327118068470","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket 6- drop packet in a basket 7- Close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket 6- drop packet in a basket 7- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"11936481789919070432.mp4"}
+{"uid":"14745059102946697737","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet in a basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet in a basket 2- Put the light green packet in the basket 3- drop packet in a basket 4- drop packet in a basket 5- drop packet in a basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet in a basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1353596185578983037.mp4"}
+{"uid":"9239152698579656579","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet in a basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket Q: immediate next step? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet in a basket 2- drop packet in a basket 3- drop packet in a basket 4- drop packet in a basket 5- close the drawer\n\u003c/PRED\u003e","video":"17231887556557774143.mp4"}
+{"uid":"6184646170675088934","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the basket 2- Put the light green packet in the basket 3- drop packet in a basket 4- drop packet in a basket 5- drop packet in a basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e","video":"14682809805811046094.mp4"}
+{"uid":"17510219685009523451","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue chip bag in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: put the blue chip bag in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue chip bag in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue chip bag in the basket 2- drop packet in a basket 3- drop packet in a basket 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue chip bag in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue chip bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the blue chip bag in the basket\n\u003c/PRED\u003e","video":"13880002623510833317.mp4"}
+{"uid":"3066058310539779527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange chair near the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2818466820167019077.mp4"}
+{"uid":"14835753031465682054","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet in a basket 2- drop packet in a basket 3- drop packet in a basket 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet in a basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket Q: immediate next step? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e","video":"14524026708887651967.mp4"}
+{"uid":"2753937332341160131","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue chip bag in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue chip bag in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13751062905918754142.mp4"}
+{"uid":"8974591643743808015","text":"\u003ctask:success:discrete:True\u003e\ndrop packet in a basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e","video":"2183996218504027020.mp4"}
+{"uid":"6258148633638131136","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet in a basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket Q: immediate next step? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet in a basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet in a basket 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet in a basket\n\u003c/PRED\u003e","video":"9916958769095260907.mp4"}
+{"uid":"4965436997532822075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the red packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18012542159763919106.mp4"}
+{"uid":"13999267325161251629","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown chip bag in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown chip bag in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: put the brown chip bag in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown chip bag in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown chip bag in the basket 2- drop packet in a basket 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket Q: immediate next step? \u003cPRED\u003eA: put the brown chip bag in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown chip bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7438733164936947807.mp4"}
+{"uid":"388860281088461793","text":"\u003ctask:success:discrete:True\u003e\nPut the blue packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e","video":"8773188206370673207.mp4"}
+{"uid":"14191095380894688657","text":"\u003ctask:success:discrete:False\u003e\nPut the light green packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket Q: immediate next step? \u003cPRED\u003eA: Put the light green packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the light green packet in the basket 2- drop packet in a basket 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the light green packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the light green packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the light green packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the light green packet in the basket\n\u003c/PRED\u003e","video":"16511203192011702696.mp4"}
+{"uid":"11326750016594323436","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket 6- drop packet in a basket Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket 6- drop packet in a basket Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"8158809965634302963.mp4"}
+{"uid":"17591072222277724619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8115474374785694334.mp4"}
+{"uid":"2099519101706936228","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the dark green packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the dark green packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket Q: immediate next step? \u003cPRED\u003eA: Put the dark green packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the dark green packet in the basket 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the dark green packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the dark green packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put the dark green packet in the basket\n\u003c/PRED\u003e","video":"9875338365374255579.mp4"}
+{"uid":"8319886567121176856","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown chip bag in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: put the brown chip bag in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown chip bag in the basket 2- Put the light green packet in the basket 3- drop packet in a basket 4- drop packet in a basket 5- drop packet in a basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown chip bag in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown chip bag in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the brown chip bag in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown chip bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15842563595489313943.mp4"}
+{"uid":"10080935293924968234","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the kettle packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6363520787880807297.mp4"}
+{"uid":"4879320709357521625","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown chip bag in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown chip bag in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12269677328009324481.mp4"}
+{"uid":"15520089010005340536","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket 6- drop packet in a basket Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket 6- drop packet in a basket Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"8990668174549314204.mp4"}
+{"uid":"15739732208641189818","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. last 20 steps: 1- open the drawer 2- Put the brown packet in the basket 3- Put the light green packet in the basket 4- drop packet in a basket 5- drop packet in a basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the basket 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer pick chips from top drawer and put it in wired basket and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e","video":"4321947926127774523.mp4"}
+{"uid":"819932917417588416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17799765727174090144.mp4"}
+{"uid":"1955601648468289967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop fork into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5770821037995840051.mp4"}
+{"uid":"7399674759982323413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12967503798550888062.mp4"}
+{"uid":"13091418790757813630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5298463901773600719.mp4"}
+{"uid":"15020079067614162727","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange marker in the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table Q: immediate next step? \u003cPRED\u003eA: place the orange marker in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange marker in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange marker in the black holder 2- move away from the yellow marker 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: place the orange marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange marker in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15073716585843194023.mp4"}
+{"uid":"11368519145055031062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2844045512799207827.mp4"}
+{"uid":"12835718046616874260","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: move your arm to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm to the right 2- move away from the yellow marker 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table Q: immediate next step? \u003cPRED\u003eA: move your arm to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10273846607745596482.mp4"}
+{"uid":"14617394929288476468","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the orange pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the orange 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":"9166256970092811646.mp4"}
+{"uid":"8596779507226234068","text":"\u003ctask:success:discrete:True\u003e\nmove to the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the yellow marker\n\u003c/PRED\u003e","video":"12562650870080642455.mp4"}
+{"uid":"15460896342467495052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12619930048764184219.mp4"}
+{"uid":"7414280289975553293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13841052176603868888.mp4"}
+{"uid":"9523190073843256011","text":"\u003ctask:success:discrete:False\u003e\nplace the brown pen in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: place the brown pen in the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown pen in the black holder 2- move to the yellow marker 3- pick the pen from the table 4- drop the pen in the holder 5- move your arm to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown pen in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown pen in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen Q: immediate next step? \u003cPRED\u003eA: place the brown pen in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown pen in the black holder\n\u003c/PRED\u003e","video":"11470836523591297586.mp4"}
+{"uid":"11722193680543941503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16700864754080691968.mp4"}
+{"uid":"2076559678135869700","text":"\u003ctask:success:discrete:True\u003e\nRelease the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the pen in the holder\n\u003c/PRED\u003e","video":"407353175254189590.mp4"}
+{"uid":"7950515311109289072","text":"\u003ctask:success:discrete:True\u003e\nmove to the brown 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: move to the brown pen\n\u003c/PRED\u003e","video":"11707528019328589672.mp4"}
+{"uid":"6589419301040637628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17085711281744427589.mp4"}
+{"uid":"7142982536926108671","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove close to the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7073058272855984623.mp4"}
+{"uid":"1689808038257889103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18355390990504519936.mp4"}
+{"uid":"9054515387266813267","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9068581668559122485.mp4"}
+{"uid":"3865863169043117418","text":"\u003ctask:success:discrete:True\u003e\nSlightly move to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e","video":"14648778137554126712.mp4"}
+{"uid":"2943180305048750750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3786816348275487902.mp4"}
+{"uid":"13844029739702827610","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen 2- move your arm to the right 3- move away from the yellow marker 4- 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e","video":"6999471294154570736.mp4"}
+{"uid":"2140294707634776866","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the brown pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the brown pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the brown pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the brown 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\nmove to the brown 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: move to the brown pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: move to the brown pen\n\u003c/PRED\u003e","video":"4045038219206937700.mp4"}
+{"uid":"7055534904777044946","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder Q: immediate next step? \u003cPRED\u003eA: move to the yellow marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: move to the yellow marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- move to the yellow marker 2- move away from the yellow marker 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the yellow marker\n\u003c/PRED\u003e","video":"2287507476532096022.mp4"}
+{"uid":"14677032032263119419","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e","video":"17224229621739887726.mp4"}
+{"uid":"6557505289451045380","text":"\u003ctask:success:discrete:False\u003e\nmove close to the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the yellow marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder Q: immediate next step? \u003cPRED\u003eA: move close to the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the yellow marker 2- drop the pen in the holder 3- move your arm to the right 4- move away from the yellow marker 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the yellow marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: move close to the yellow marker\n\u003c/PRED\u003e","video":"259321764040001246.mp4"}
+{"uid":"16998528319916730179","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen Q: immediate next step? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the holder 2- move to the yellow marker 3- pick the pen from the table 4- drop the pen in the holder 5- move your arm to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e","video":"11578703279301512320.mp4"}
+{"uid":"14094337381674833375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen stand in carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7562849713173077901.mp4"}
+{"uid":"4208493020871086568","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the right 2- pick the pen from the table 3- drop the pen in the holder 4- move your arm to the right 5- move away from the yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e","video":"4668302781716654693.mp4"}
+{"uid":"9368500490392500243","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the yellow marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder 7- move your arm to the right 8- move away from the yellow marker Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder 7- move your arm to the right 8- move away from the yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove away from the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9807731964105745185.mp4"}
+{"uid":"12754475152907917772","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6737562229941385129.mp4"}
+{"uid":"15493540584208436569","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm back 2- pick the pen from the table 3- drop the pen in the holder 4- move your arm to the right 5- move away from the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e","video":"9760275857952707977.mp4"}
+{"uid":"13814173343180124262","text":"\u003ctask:success:discrete:False\u003e\nMove close to the yellow highlighter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: Move close to the yellow highlighter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Move close to the yellow highlighter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the yellow highlighter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the yellow highlighter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the yellow highlighter 2- move away from the yellow marker 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the yellow highlighter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18163261885917553566.mp4"}
+{"uid":"17204469629716991333","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen from the table 2- place the brown pen in the black holder 3- move to the yellow marker 4- pick the pen from the table 5- drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e","video":"14899120785497996548.mp4"}
+{"uid":"16545420226308572562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the paper cup in the pile of paper cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10224900536103700851.mp4"}
+{"uid":"6617718242050258948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bowl in the dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2240005006690154781.mp4"}
+{"uid":"13589889673319530425","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16550931873976164937.mp4"}
+{"uid":"13143902529511414934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17081156837232148604.mp4"}
+{"uid":"9363938158841537214","text":"\u003ctask:success:discrete:True\u003e\nMove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder 7- move your arm to the right 8- Move your arm back Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder 7- move your arm to the right 8- Move your arm back Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"13750021487081118659.mp4"}
+{"uid":"753198995062162802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17310526713223933423.mp4"}
+{"uid":"8886185033293823897","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1137577169549465212.mp4"}
+{"uid":"13447022120855299785","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder Q: immediate next step? \u003cPRED\u003eA: move to the yellow marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: move to the yellow marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- move to the yellow marker 2- drop the pen in the holder 3- move your arm to the right 4- move away from the yellow marker 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the yellow marker\n\u003c/PRED\u003e","video":"9168002388833317764.mp4"}
+{"uid":"13054226300947422330","text":"\u003ctask:success:discrete:True\u003e\nplace the orange marker in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange marker in the black holder\n\u003c/PRED\u003e","video":"10944215538350894071.mp4"}
+{"uid":"5209894300871622382","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e","video":"17430687624631531167.mp4"}
+{"uid":"17375930175650381421","text":"\u003ctask:success:discrete:False\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder 7- move your arm to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm back 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder 7- move your arm to the right Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e","video":"3694228013547806303.mp4"}
+{"uid":"11693795368688266502","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the holder 2- move away from the yellow marker 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker Q: immediate next step? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13182499910746996478.mp4"}
+{"uid":"10750626658207379001","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brown pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the brown 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":"14226829459004737190.mp4"}
+{"uid":"12069783995414435975","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8020930060015991377.mp4"}
+{"uid":"12542816892126059345","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder Q: immediate next step? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen from the table 2- move your arm to the right 3- move away from the yellow marker 4- done\n\u003c/PRED\u003e","video":"14806386882602642704.mp4"}
+{"uid":"2036436392331510421","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the pen 2- place the brown pen in the black holder 3- move to the yellow marker 4- pick the pen from the table 5- drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e","video":"17405444846778143416.mp4"}
+{"uid":"9482699983353599958","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: Release the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table Q: immediate next step? \u003cPRED\u003eA: Release the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the pen in the holder 2- move away from the yellow marker 3- done\n\u003c/PRED\u003e","video":"78322879420026537.mp4"}
+{"uid":"10256644048209878367","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder 7- move your arm to the right Q: immediate next step? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder 7- move your arm to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm back 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5259497808842947909.mp4"}
+{"uid":"16356270765138681409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2009656584566350571.mp4"}
+{"uid":"15213286931970871066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5992675599883190694.mp4"}
+{"uid":"7491621427775811024","text":"\u003ctask:success:discrete:True\u003e\nDrop the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pen in the holder\n\u003c/PRED\u003e","video":"5114080903037317689.mp4"}
+{"uid":"13351864913206022032","text":"\u003ctask:success:discrete:True\u003e\nPick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e","video":"2206829317566618275.mp4"}
+{"uid":"12543092324513371595","text":"\u003ctask:success:discrete:True\u003e\nMove close to the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the pen\n\u003c/PRED\u003e","video":"7813447490847292250.mp4"}
+{"uid":"644398001255087938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2694941091964115888.mp4"}
+{"uid":"7082949252033019958","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen in the holder 2- move to the yellow marker 3- pick the pen from the table 4- drop the pen in the holder 5- move your arm to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the holder\n\u003c/PRED\u003e","video":"15629727999448873925.mp4"}
+{"uid":"4076868574486687875","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11594220701490520707.mp4"}
+{"uid":"661253339281909282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the transparent glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2417492904846188563.mp4"}
+{"uid":"17977122095429865862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13849761442066862971.mp4"}
+{"uid":"3062095636464967714","text":"\u003ctask:success:discrete:True\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder 7- move your arm to the right 8- move your arm back Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder 7- move your arm to the right 8- move your arm back Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3804034398277612643.mp4"}
+{"uid":"6472212657345647846","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder 7- move your arm to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the yellow marker 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the yellow marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: move away from the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker 5- pick the pen from the table 6- drop the pen in the holder 7- move your arm to the right Q: immediate next step? \u003cPRED\u003eA: move away from the yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4976623271285661212.mp4"}
+{"uid":"3883678770451060374","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the brown pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: pick the brown pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brown 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: put the writing utensils in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown pen 2- place the brown pen in the black holder 3- move to the yellow marker 4- pick the pen from the table 5- drop the pen in the holder\n\u003c/PRED\u003e","video":"432805624123608678.mp4"}
+{"uid":"10471995786033054573","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing utensils in the container Q: immediate next step? \u003cPRED\u003eA: pick the orange pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange 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 writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker Q: immediate next step? \u003cPRED\u003eA: pick the orange pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing utensils in the container. last 20 steps: 1- Move close to the pen 2- pick the brown pen 3- place the brown pen in the black holder 4- move to the yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange pen 2- move your arm to the right 3- move away from the yellow marker 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange pen\n\u003c/PRED\u003e","video":"15326517739230278930.mp4"}
+{"uid":"12568528563122003960","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":"16429057799098252505.mp4"}
+{"uid":"2962543879902529911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a orange 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":"331853018962761095.mp4"}
+{"uid":"5197658191626251646","text":"\u003ctask:success:discrete:True\u003e\nmove to the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the yellow marker\n\u003c/PRED\u003e","video":"946475110107640893.mp4"}
+{"uid":"10405390123767902273","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13753732612795019640.mp4"}
+{"uid":"11833661573491967892","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut plastic fork in the black glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put plastic fork in the black glass 2- Put plastic fork in the black glass 3- put the white packet in the tray 4- put the orange packet in the tray 5- put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand Q: immediate next step? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e","video":"11544604889005621115.mp4"}
+{"uid":"7547980010275538693","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the black packet in the tray 3- put the brown packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"10522556032110277294.mp4"}
+{"uid":"10044918502478536510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10042381077521452565.mp4"}
+{"uid":"15916858052983281849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow cable in the trap door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6487203355029723002.mp4"}
+{"uid":"4268750392701069990","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5822775980899935897.mp4"}
+{"uid":"893123564530626236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3894007455442831755.mp4"}
+{"uid":"11969944031791458561","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":"12484864395102527112.mp4"}
+{"uid":"17251220288857858815","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork on stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fork on 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":"5159520035334757459.mp4"}
+{"uid":"5850821218461470177","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3084021573706728734.mp4"}
+{"uid":"15226297780700092857","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray 11- put the black packet in the tray 12- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray 11- put the black packet in the tray 12- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put 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":"764220293609350705.mp4"}
+{"uid":"6352141078508336893","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput  packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put  packet in the tray 2- put the black packet in the tray 3- put the brown packet in the tray 4- done\n\u003c/PRED\u003e","video":"1522302677013293604.mp4"}
+{"uid":"981391025214032780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue pen in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8331925232729625659.mp4"}
+{"uid":"6670385189506121043","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put  packet in the tray 2- put the brown packet in the tray 3- put the white packet in the tray 4- put the white packet in the tray 5- put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e","video":"4446518996931664168.mp4"}
+{"uid":"3071900185171451097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut black wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5628241843190621030.mp4"}
+{"uid":"6950738099109965086","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- put the black packet in the tray 3- put the brown packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7530668329136052518.mp4"}
+{"uid":"10466763416350184558","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":"5367854131825928437.mp4"}
+{"uid":"14663647777282426646","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the white packet in the tray 3- put the black packet in the tray 4- put the brown packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"3389657385366766023.mp4"}
+{"uid":"1419972516500521548","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put plastic fork in the black glass 2- put the white packet in the tray 3- put the orange packet in the tray 4- put the black packet in the tray 5- 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 plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut plastic fork in the black glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut plastic fork in the black glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand Q: immediate next step? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e","video":"12560950460399032103.mp4"}
+{"uid":"7363581586285794621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the shelf. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18087896032978231719.mp4"}
+{"uid":"2772468746397378636","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the brown packet in the tray 3- put the white packet in the tray 4- put the white packet in the tray 5- put the black packet in the tray\n\u003c/PRED\u003e","video":"1519323521491256533.mp4"}
+{"uid":"10306947961967627276","text":"\u003ctask:success:discrete:True\u003e\nput the black packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black packet in the tray\n\u003c/PRED\u003e","video":"2901677759833441247.mp4"}
+{"uid":"12718355087123413280","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"2400802580005756947.mp4"}
+{"uid":"11624960894032033304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the binder 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":"9048213014575647710.mp4"}
+{"uid":"18327111043061398322","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the brown packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"10642967386860725248.mp4"}
+{"uid":"9949553641577077778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10689654167031262439.mp4"}
+{"uid":"8542672367044804694","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass Q: next 5 steps? \u003cPRED\u003eA: 1- put  packet in the tray 2- put the orange packet in the tray 3- put the black packet in the tray 4- put the brown packet in the tray 5- put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput  packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4403629286962385256.mp4"}
+{"uid":"14311519234396131845","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut plastic fork in the black glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put plastic fork in the black glass 2- Put plastic fork in the black glass 3- put the white packet in the tray 4- put the orange packet in the tray 5- put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand Q: immediate next step? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e","video":"7111850622707230039.mp4"}
+{"uid":"677626679437110158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1138996084268222150.mp4"}
+{"uid":"3452021705418973932","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the black packet in the tray 2- put the brown packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the black packet in the tray\n\u003c/PRED\u003e","video":"14406829941051649399.mp4"}
+{"uid":"16433601152123065053","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray 11- put the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray 11- put the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"7457271740804130680.mp4"}
+{"uid":"9530925712421300746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10975888707534767765.mp4"}
+{"uid":"3974600054469849213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3080627211426717395.mp4"}
+{"uid":"16837110642084267957","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the white packet in the tray 3- put the white packet in the tray 4- put the black packet in the tray 5- put the brown packet in the tray\n\u003c/PRED\u003e","video":"14922464576971975147.mp4"}
+{"uid":"9485702340850753713","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":"14055505481530566865.mp4"}
+{"uid":"11563788961422697643","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork on stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork on stand 2- Put plastic fork in the black glass 3- put the white packet in the tray 4- put the orange packet in the tray 5- put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork on 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 fork on stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork on stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand Q: immediate next step? \u003cPRED\u003eA: put the fork on stand\n\u003c/PRED\u003e","video":"573627734549892458.mp4"}
+{"uid":"4587454342539153807","text":"\u003ctask:success:discrete:True\u003e\nput the fork on 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 fork on stand\n\u003c/PRED\u003e","video":"16541117616103751412.mp4"}
+{"uid":"15900972155123943029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7529144892045120942.mp4"}
+{"uid":"4022235844435866115","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1065040132156909823.mp4"}
+{"uid":"1521854754979645446","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- Put plastic fork in the black glass 3- put the white packet in the tray 4- put the orange packet in the tray 5- put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e","video":"4190867458035747830.mp4"}
+{"uid":"16090592064467791473","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put  packet in the tray 2- put the brown packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13329437928822024903.mp4"}
+{"uid":"12741471058008466265","text":"\u003ctask:success:discrete:False\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the black packet in the tray 3- put the brown packet in the tray 4- put the white packet in the tray 5- put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"15328746985341690923.mp4"}
+{"uid":"14577577941936869628","text":"\u003ctask:success:discrete:False\u003e\nput the fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- put the white packet in the tray 3- put the orange packet in the tray 4- put the black packet in the tray 5- put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e","video":"694985976894053608.mp4"}
+{"uid":"15924678234043004704","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork on stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork on stand 2- put the white packet in the tray 3- put the orange packet in the tray 4- put the black packet in the tray 5- put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand Q: immediate next step? \u003cPRED\u003eA: put the fork on stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork on stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork on stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork on stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fork on stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5219858098758619051.mp4"}
+{"uid":"1934330481379733486","text":"\u003ctask:success:discrete:True\u003e\nput the black packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black packet in the tray\n\u003c/PRED\u003e","video":"13958778994739642429.mp4"}
+{"uid":"3739624757040818075","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- put the white packet in the tray 3- put the black packet in the tray 4- put the brown packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"9458908314764013194.mp4"}
+{"uid":"3779336203271734772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrotate the tray cw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"193481125499507561.mp4"}
+{"uid":"7571087112803500757","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the tray 2- put the white packet in the tray 3- put the white packet in the tray 4- put the black packet in the tray 5- 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: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: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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e","video":"14524233392954436822.mp4"}
+{"uid":"6152267986646660991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue marker in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13369472627683795753.mp4"}
+{"uid":"1358485410104602971","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8414733674544709482.mp4"}
+{"uid":"10546788288300698609","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3004999849650156496.mp4"}
+{"uid":"18129060418682266494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16329764736437660646.mp4"}
+{"uid":"3363371841934857343","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut plastic fork in the black glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut plastic fork in the black glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put plastic fork in the black glass 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e","video":"17744264233418435091.mp4"}
+{"uid":"13313007820737873542","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the brown packet in the tray 3- done\n\u003c/PRED\u003e","video":"7304595736803239058.mp4"}
+{"uid":"5458021648879646627","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3971392851327761180.mp4"}
+{"uid":"4445022320224018423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11370555579992406414.mp4"}
+{"uid":"10779714613403287114","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9707579234291332421.mp4"}
+{"uid":"7151635112961718105","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- put the orange packet in the tray 3- put the black packet in the tray 4- put the brown packet in the tray 5- put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"3801404898805979774.mp4"}
+{"uid":"15571134700843862587","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- put the fork on stand 3- Put plastic fork in the black glass 4- put the white packet in the tray 5- put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e","video":"1700497515461216491.mp4"}
+{"uid":"15561431789298146608","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":"17917185272790823817.mp4"}
+{"uid":"3307875527384264867","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput  packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put  packet in the tray 2- put the brown packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e","video":"16393180832214634741.mp4"}
+{"uid":"7771752671040725762","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace butter knife inside holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5851283034204515268.mp4"}
+{"uid":"15106243574332599274","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put packet in the tray 2- put the white packet in the tray 3- put the white packet in the tray 4- put the black packet in the tray 5- put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put packet in the tray\n\u003c/PRED\u003e","video":"586315966055911938.mp4"}
+{"uid":"14769738442069271734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic forks in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7322431881993787386.mp4"}
+{"uid":"10409363609511260241","text":"\u003ctask:success:discrete:True\u003e\nPut plastic fork in the black glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e","video":"2973219977244078975.mp4"}
+{"uid":"16811958682531461153","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4367403358697877953.mp4"}
+{"uid":"660392423948054064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the spoon 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":"16845611230713482187.mp4"}
+{"uid":"14399903170364165728","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the black packet in the tray 2- put the brown packet in the tray 3- put the white packet in the tray 4- put the white packet in the tray 5- put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black packet in the tray\n\u003c/PRED\u003e","video":"17461049267815332575.mp4"}
+{"uid":"2803427435096055813","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio  in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10139562328334954426.mp4"}
+{"uid":"3472545121409517933","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7105918545406188057.mp4"}
+{"uid":"5123181134851805406","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18379941600434809878.mp4"}
+{"uid":"18176346008525549124","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut plastic fork in the black glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17264977963099317215.mp4"}
+{"uid":"12032386794660668942","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":"14206559786416128638.mp4"}
+{"uid":"4624786320954080814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up numi bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16067702820742121133.mp4"}
+{"uid":"9784434677422006958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"83948957876858326.mp4"}
+{"uid":"16738867865837759728","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray 11- put the black packet in the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray 11- put the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the 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: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":"6795787603345192472.mp4"}
+{"uid":"15251375790883894404","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- Put plastic fork in the black glass 3- put the white packet in the tray 4- put the orange packet in the tray 5- put the black packet in the tray\n\u003c/PRED\u003e","video":"6583372203765390142.mp4"}
+{"uid":"2896247092402085346","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork on stand 2- put the fork on stand 3- Put plastic fork in the black glass 4- put the white packet in the tray 5- put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork on stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand Q: immediate next step? \u003cPRED\u003eA: put the fork on stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork on stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork on 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 fork on stand\n\u003c/PRED\u003e","video":"10572483375859954527.mp4"}
+{"uid":"6807028473992086867","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork on stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fork on 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":"18066494759977362925.mp4"}
+{"uid":"11473159692885461690","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the tray 2- put the black packet in the tray 3- put the brown packet in the tray 4- put the white packet in the tray 5- put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8511507820936657870.mp4"}
+{"uid":"2437315786996730579","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray 11- put the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray 7- put the black packet in the tray 8- put the brown packet in the tray 9- put the white packet in the tray 10- put the white packet in the tray 11- put the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put  packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e","video":"4287058211707188353.mp4"}
+{"uid":"15913870008242292977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"558359745121700895.mp4"}
+{"uid":"8187135452126443733","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put  packet in the tray 2- put the white packet in the tray 3- put the white packet in the tray 4- put the black packet in the tray 5- put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the fork on stand 2- put the fork on stand 3- put the fork on stand 4- Put plastic fork in the black glass 5- put the white packet in the tray 6- put the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3629377027888389323.mp4"}
+{"uid":"3149438400754224774","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put plastic fork in the black glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut plastic fork in the black glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13258365724031492289.mp4"}
+{"uid":"2370750487555843395","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: Drop the Yellow packet into table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel 7- Put the holder on the table Q: immediate next step? \u003cPRED\u003eA: Drop the Yellow packet into table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the Yellow packet into table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the Yellow packet into table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel 7- Put the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the Yellow packet into table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the Yellow packet into table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the Yellow packet into table\n\u003c/PRED\u003e","video":"7607400174069445555.mp4"}
+{"uid":"3087926145016593667","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet into the glass vessel 2- Put the holder on the table 3- place yellow packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet into the glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet into the glass vessel\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel Q: immediate next step? \u003cPRED\u003eA: Put the packet into the glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet into the glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet into the glass vessel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet into the glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"545898945832589343.mp4"}
+{"uid":"18275772371858429070","text":"\u003ctask:success:discrete:True\u003e\nDrop the pocket into a glass bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pocket into a glass bottle\n\u003c/PRED\u003e","video":"790182468796371198.mp4"}
+{"uid":"10414924520134775184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10779750724324628197.mp4"}
+{"uid":"6696838614667095488","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the Yellow packet into table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel 7- Put the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the Yellow packet into table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel 7- Put the holder on the table Q: immediate next step? \u003cPRED\u003eA: Drop the Yellow packet into table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the Yellow packet into table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: Drop the Yellow packet into table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the Yellow packet into table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the Yellow packet into table\n\u003c/PRED\u003e","video":"8782852294569272111.mp4"}
+{"uid":"6360623081247636167","text":"\u003ctask:success:discrete:True\u003e\nPut the packet into the glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet into the glass vessel\n\u003c/PRED\u003e","video":"14112837095391455364.mp4"}
+{"uid":"12432246346268926093","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3155881199741023044.mp4"}
+{"uid":"2548884709923868257","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cable on table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cable on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cable on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cable on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the cable on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cable on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: Put the cable on table\n\u003c/PRED\u003e","video":"17894155442924908752.mp4"}
+{"uid":"1576828821848207190","text":"\u003ctask:success:discrete:False\u003e\nplace second white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place second white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place second white packet in the jar 2- Put the packet into the glass vessel 3- Put the holder on the table 4- place yellow packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: place second white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place second white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar Q: immediate next step? \u003cPRED\u003eA: place second white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace second white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10990614475739857617.mp4"}
+{"uid":"6985487138402022684","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the wire and white packet on the table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: place the wire and white packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wire and white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the wire and white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the wire and white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the wire and white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wire and white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9257758429304027944.mp4"}
+{"uid":"10837737781851790087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove tray forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2790980571592416875.mp4"}
+{"uid":"12122568126573179306","text":"\u003ctask:success:discrete:True\u003e\nPut the packet on the glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet on the glass vessel\n\u003c/PRED\u003e","video":"15984623741648993708.mp4"}
+{"uid":"982833817157050188","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":"17018127677615528060.mp4"}
+{"uid":"18350715144386597306","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cable on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cable 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":"12327143651296729665.mp4"}
+{"uid":"17943119269508116669","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place second white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace second white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8634727283454653142.mp4"}
+{"uid":"5244008024574501749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the measuring tape in the cardboard  box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5389653357031193252.mp4"}
+{"uid":"2580291932600215704","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black container on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black container on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace black container on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel Q: immediate next step? \u003cPRED\u003eA: place black container on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: place black container on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel Q: next 5 steps? \u003cPRED\u003eA: 1- place black container on the table 2- place yellow packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black container on the table\n\u003c/PRED\u003e","video":"13973946549114544774.mp4"}
+{"uid":"4755151836511656569","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":"13218157731503597987.mp4"}
+{"uid":"2053647859704285443","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packet on jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace white packet on jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packet on jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard Q: immediate next step? \u003cPRED\u003eA: place white packet on jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard Q: next 5 steps? \u003cPRED\u003eA: 1- place white packet on jar 2- place the white packet inside the jar 3- Put the packet in to the glass vessel 4- Put the packet into the glass vessel 5- Put the holder on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: place white packet on jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packet on jar\n\u003c/PRED\u003e","video":"13329155684581189668.mp4"}
+{"uid":"17601939186384088940","text":"\u003ctask:success:discrete:False\u003e\nPut the packet on the glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the glass vessel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the glass vessel 2- place the white packet inside the jar 3- Put the packet in to the glass vessel 4- Put the packet into the glass vessel 5- Put the holder on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the glass vessel\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the glass vessel\n\u003c/PRED\u003e","video":"14645447278982922476.mp4"}
+{"uid":"10197522720006972901","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6217035966963877643.mp4"}
+{"uid":"11363973780585131323","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2053300142131064888.mp4"}
+{"uid":"13533042769493105564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14221582605605956979.mp4"}
+{"uid":"12958996232169855231","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: pick third white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick third white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel Q: next 5 steps? \u003cPRED\u003eA: 1- pick third white packet 2- Put the holder on the table 3- place yellow 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: pick third white packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick third white packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel Q: immediate next step? \u003cPRED\u003eA: pick third white packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick third white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2959048910548532388.mp4"}
+{"uid":"7701544845180187416","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the wire and white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the wire and white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9814555192726267786.mp4"}
+{"uid":"17469801195063452420","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2768107948391118336.mp4"}
+{"uid":"10594364397332153572","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in to the glass vessel\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet in to the glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6336443960983411667.mp4"}
+{"uid":"4986471451987029690","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place black container on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace black container on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16394294880248522347.mp4"}
+{"uid":"2872183302384239831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic glass in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9753545394360459797.mp4"}
+{"uid":"14495391223845110797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npress the buttons Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6685729725249253517.mp4"}
+{"uid":"1000686296666534443","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13438414537115850060.mp4"}
+{"uid":"14102315782254409768","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel Q: immediate next step? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel Q: next 5 steps? \u003cPRED\u003eA: 1- Put the holder on the table 2- place yellow packet on the table 3- done\n\u003c/PRED\u003e","video":"18062973517421602763.mp4"}
+{"uid":"11295747029682607985","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards cardboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards cardboard 2- place white packet on jar 3- place the white packet inside the jar 4- Put the packet in to the glass vessel 5- Put the packet into the glass vessel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: move your arm towards cardboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards cardboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm towards cardboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards cardboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards cardboard\n\u003c/PRED\u003e","video":"2921121047933441695.mp4"}
+{"uid":"13695312598318630280","text":"\u003ctask:success:discrete:False\u003e\nplace yellow packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: place yellow packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel 7- Put the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel 7- Put the holder on the table Q: immediate next step? \u003cPRED\u003eA: place yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10001443128057033086.mp4"}
+{"uid":"5324474398770216206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18275708480080393681.mp4"}
+{"uid":"10245512053794253578","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scoop of caramel popcorn in the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11572253828155516324.mp4"}
+{"uid":"11726429872616381131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tile to the bottom of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12620509824795229353.mp4"}
+{"uid":"7176459689085200406","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":"5953469412884579407.mp4"}
+{"uid":"8640275830698984886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5850760606318702615.mp4"}
+{"uid":"13596444821787448894","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the wire and white packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the wire and white packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: pick up the wire and white packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the wire and white packet 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the wire and white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the wire and white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the wire and white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12247850074893200304.mp4"}
+{"uid":"4479255076253240991","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel 7- Put the holder on the table 8- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel 7- Put the holder on the table 8- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"342872661939968979.mp4"}
+{"uid":"11336053088125386757","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8114836674218712137.mp4"}
+{"uid":"16801565308962475417","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet inside the glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet inside the glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar Q: immediate next step? \u003cPRED\u003eA: Put the packet inside the glass vessel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet inside the glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet inside the glass vessel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet inside the glass vessel 2- Put the packet in to the glass vessel 3- Put the packet into the glass vessel 4- Put the holder on the table 5- place yellow packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet inside the glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10316056199977659816.mp4"}
+{"uid":"1518104597090763054","text":"\u003ctask:success:discrete:True\u003e\nPut the both things wire as well Packet into table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the both things wire as well Packet into table\n\u003c/PRED\u003e","video":"17424497566337692124.mp4"}
+{"uid":"1993990729903653185","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel 7- Put the holder on the table 8- place yellow packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace yellow packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel 7- Put the holder on the table 8- place yellow 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: place yellow packet on the table\n\u003c/PRED\u003e","video":"5553625023278011519.mp4"}
+{"uid":"7150480686324482279","text":"\u003ctask:success:discrete:False\u003e\nDrop the pocket into a glass bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pocket into a glass bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pocket into a glass bottle 2- Put the packet into the glass vessel 3- Put the holder on the table 4- place yellow packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar Q: immediate next step? \u003cPRED\u003eA: Drop the pocket into a glass bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pocket into a glass bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pocket into a glass bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: Drop the pocket into a glass bottle\n\u003c/PRED\u003e","video":"11132768109964249480.mp4"}
+{"uid":"17474903361232295472","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in to the glass vessel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in to the glass vessel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in to the glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet in to the glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in to the glass vessel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in to the glass vessel 2- Put the packet into the glass vessel 3- Put the holder on the table 4- place yellow packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar Q: immediate next step? \u003cPRED\u003eA: Put the packet in to the glass vessel\n\u003c/PRED\u003e","video":"11828346774642583515.mp4"}
+{"uid":"9509722121895560089","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: Put the both things wire as well Packet into table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the both things wire as well Packet into table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the both things wire as well Packet into table 2- place white packet on jar 3- place the white packet inside the jar 4- Put the packet in to the glass vessel 5- Put the packet into the glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the both things wire as well Packet into table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the both things wire as well Packet into table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the both things wire as well Packet into table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the both things wire as well Packet into table\n\u003c/PRED\u003e","video":"16139189456880759844.mp4"}
+{"uid":"9914092290592190676","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a plastic fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7647863309381834168.mp4"}
+{"uid":"8966125114071844450","text":"\u003ctask:success:discrete:True\u003e\nplace the wire and white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the wire and white packet on the table\n\u003c/PRED\u003e","video":"4466404915276369289.mp4"}
+{"uid":"16889306681445098927","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: place the white packet inside the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet inside the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar Q: immediate next step? \u003cPRED\u003eA: place the white packet inside the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet inside the jar 2- Put the packet in to the glass vessel 3- Put the packet into the glass vessel 4- Put the holder on the table 5- place yellow packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet inside the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet inside the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet inside the jar\n\u003c/PRED\u003e","video":"4872495950225503544.mp4"}
+{"uid":"5275668905838046081","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2946365789100959540.mp4"}
+{"uid":"6155426331140998295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6504775447760783390.mp4"}
+{"uid":"15178208205368810249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13676992268624305618.mp4"}
+{"uid":"17352417386500690651","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: place the third white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel Q: immediate next step? \u003cPRED\u003eA: place the third white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the third white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the third white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the third white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel Q: next 5 steps? \u003cPRED\u003eA: 1- place the third white packet in the jar 2- Put the holder on the table 3- place yellow packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the third white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"326263563200597931.mp4"}
+{"uid":"233647683433489166","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel 7- Put the holder on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table 2- move your arm towards cardboard 3- place white packet on jar 4- place the white packet inside the jar 5- Put the packet in to the glass vessel 6- Put the packet into the glass vessel 7- Put the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7395723781385345219.mp4"}
+{"uid":"10666153568194327214","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table Q: immediate next step? \u003cPRED\u003eA: pick up white packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up white packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table. last 20 steps: 1- Put the both things wire as well Packet into table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up white packet 2- place white packet on jar 3- place the white packet inside the jar 4- Put the packet in to the glass vessel 5- Put the packet into the glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up white packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from box and organize them on the table by putting the snacks in the jar and the wipes and pencil cup organizer on the table Q: immediate next step? \u003cPRED\u003eA: pick up white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17228580385095285919.mp4"}
+{"uid":"11211774845882177115","text":"\u003ctask:success:discrete:True\u003e\nplace white packet on 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 white packet on jar\n\u003c/PRED\u003e","video":"16078907352128330158.mp4"}
+{"uid":"5257205618648200665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the top white pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5770772890793347108.mp4"}
+{"uid":"18430548830167533502","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper cup in the dustbin 2- put the crushed brown paper in the dustbin 3- put the white colour packet in the jar 4- put white colour packet in the jar 5- put the blue colour packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper cup in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin Q: immediate next step? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15198441854828415001.mp4"}
+{"uid":"16662649191838871712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12649007464924166068.mp4"}
+{"uid":"5405132063263323941","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue colour packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue colour packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2988138287398942943.mp4"}
+{"uid":"9567799168945307479","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar 7- put white colour packet in the jar 8- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar 7- put white colour packet in the jar 8- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"4142528971909995864.mp4"}
+{"uid":"3885889769218869428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3866210320234798443.mp4"}
+{"uid":"490621708701784803","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13906709745605103178.mp4"}
+{"uid":"14229509319605306835","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put pear on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15987362225872071167.mp4"}
+{"uid":"8555269308219314265","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am going to library can you clean the desk with the wipe and pull out a chair. last 20 steps: 1- open the yellow packet 2- pick up the wipe 3- place the wipe on the table Q: immediate next step? \u003cPRED\u003eA: clean the table with the wipe\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table with the wipe\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the table with the wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the wipe on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the wipe on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 with the wipe\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am going to library can you clean the desk with the wipe and pull out a chair Q: immediate next step? \u003cPRED\u003eA: clean the table with the wipe\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 the wipe and pull out a chair. last 20 steps: 1- open the yellow packet 2- pick up the wipe 3- place the wipe on the table Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table with the wipe 2- pull the chair 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table with the wipe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3818754931693896736.mp4"}
+{"uid":"325688314013552353","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"2234803523011986701.mp4"}
+{"uid":"15816065534816969966","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12323623964549452024.mp4"}
+{"uid":"10414791959816192870","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6921841700490324679.mp4"}
+{"uid":"13284175944652460219","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":"5800333914851023447.mp4"}
+{"uid":"7835377085386884819","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2682256953250594695.mp4"}
+{"uid":"14926586254533279418","text":"\u003ctask:success:discrete:False\u003e\nput the blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the jar 2- put white colour packet in the jar 3- put the white colour packet in the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e","video":"15291857006936831603.mp4"}
+{"uid":"18230586596702072585","text":"\u003ctask:success:discrete:True\u003e\nput the paper cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e","video":"9122526041199809643.mp4"}
+{"uid":"5022934255246195676","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the paper cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3787313528187414891.mp4"}
+{"uid":"10874737095553781346","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put white colour packet in the jar 2- put the blue colour packet in the jar 3- put white colour packet in the jar 4- put the white colour packet in the jar 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white colour packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white colour packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar Q: immediate next step? \u003cPRED\u003eA: put white colour packet in the jar\n\u003c/PRED\u003e","video":"7254446028287172867.mp4"}
+{"uid":"10402751270732567743","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9680973659048435348.mp4"}
+{"uid":"16634456866615955611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the left flap of the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6562179060637375626.mp4"}
+{"uid":"8876801404023884564","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar 7- put white colour packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar 7- put white colour packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12436969371324212648.mp4"}
+{"uid":"11029917660882195366","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- put white colour packet in the jar 3- put the blue colour packet in the jar 4- put white colour packet in the jar 5- put the white colour packet in the jar\n\u003c/PRED\u003e","video":"11793211873742606557.mp4"}
+{"uid":"7094352166420573657","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup in the dustbin 2- put the crushed brown paper in the dustbin 3- put the white colour packet in the jar 4- put white colour packet in the jar 5- put the blue colour packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin Q: immediate next step? \u003cPRED\u003eA: place the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: place the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13308972544037147823.mp4"}
+{"uid":"12308668324519212491","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"4789889829319016495.mp4"}
+{"uid":"9147316459879962989","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the wipe\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the wipe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 the wipe and pull out a chair. last 20 steps: 1- open the yellow packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the wipe 2- place the wipe on the table 3- clean the table with the wipe 4- pull the chair 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am going to library can you clean the desk with the wipe and pull out a chair Q: immediate next step? \u003cPRED\u003eA: pick up the wipe\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 wipe\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 the wipe and pull out a chair. last 20 steps: 1- open the yellow packet Q: immediate next step? \u003cPRED\u003eA: pick up the wipe\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3035338560124420468.mp4"}
+{"uid":"5815547835608940360","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9137478491890348219.mp4"}
+{"uid":"2743089655958262893","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3772917014092188150.mp4"}
+{"uid":"1447455599780745862","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper cup in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e","video":"14396954714397927204.mp4"}
+{"uid":"928790164484592713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the right indoor plant to the left a bit. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7870504630633826434.mp4"}
+{"uid":"14550912280468365535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13540814638495193335.mp4"}
+{"uid":"8148482773366442543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10862357698062344028.mp4"}
+{"uid":"13155450435927499368","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- put the white colour packet in the jar 3- done\n\u003c/PRED\u003e","video":"12043014549554541051.mp4"}
+{"uid":"13681166310339536776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11649681370955677130.mp4"}
+{"uid":"17265958445786606299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1818024550519037697.mp4"}
+{"uid":"6863892177772542631","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9917154003146532286.mp4"}
+{"uid":"13443644278083035920","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14115014267098043974.mp4"}
+{"uid":"10573617958893730834","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the paper cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16272546257482664642.mp4"}
+{"uid":"13280429344718265341","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"13009771103069902983.mp4"}
+{"uid":"7020430094937671230","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"6834277122792434712.mp4"}
+{"uid":"14600827416894969879","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":"4470576890029975087.mp4"}
+{"uid":"5901013170530470227","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":"401251474470304166.mp4"}
+{"uid":"7896732835887585","text":"\u003ctask:success:discrete:False\u003e\nput the crushed paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the crushed paper in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin Q: immediate next step? \u003cPRED\u003eA: put the crushed paper in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the crushed paper in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the crushed paper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the crushed paper in the dustbin 2- put the white colour packet in the jar 3- put white colour packet in the jar 4- put the blue colour packet in the jar 5- put white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the crushed paper in the dustbin\n\u003c/PRED\u003e","video":"88796919371343468.mp4"}
+{"uid":"7747728009640117589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14529608184653308428.mp4"}
+{"uid":"13688437453654123906","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the wipe on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wipe on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wipe on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am going to library can you clean the desk with the wipe and pull out a chair. last 20 steps: 1- open the yellow packet 2- pick up the wipe Q: immediate next step? \u003cPRED\u003eA: place the 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 the wipe and pull out a chair. last 20 steps: 1- open the yellow packet 2- pick up the wipe Q: next 5 steps? \u003cPRED\u003eA: 1- place the wipe on the table 2- clean the table with the wipe 3- pull the chair 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am going to library can you clean the desk with the wipe and pull out a chair Q: immediate next step? \u003cPRED\u003eA: place the wipe on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the wipe on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9254232560767042917.mp4"}
+{"uid":"1434219900766290619","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17350967588111234544.mp4"}
+{"uid":"11875863835974480699","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white colour packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white colour packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar Q: immediate next step? \u003cPRED\u003eA: put white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put white colour packet in the jar 2- put the white colour packet in the jar 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put white colour packet in the jar\n\u003c/PRED\u003e","video":"18392989868816802752.mp4"}
+{"uid":"2386672606611170915","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cups upright 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":"16734602515164201075.mp4"}
+{"uid":"16375892016336537374","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the yellow packet\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 the wipe and pull out a chair. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the yellow packet 2- pick up the wipe 3- place the wipe on the table 4- clean the table with the wipe 5- pull the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am going to library can you clean the desk with the wipe and pull out a chair Q: immediate next step? \u003cPRED\u003eA: open the yellow packet\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 the wipe and pull out a chair. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the yellow packet\n\u003c/PRED\u003e","video":"5266200269356017703.mp4"}
+{"uid":"693899836013403324","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":"11645948305855556201.mp4"}
+{"uid":"1161098549652520881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9481126450701715833.mp4"}
+{"uid":"9835834420077056347","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"11937400681480685540.mp4"}
+{"uid":"17330392360315846906","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":"1192605965691719374.mp4"}
+{"uid":"10330803544595293021","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the white colour packet in the jar 2- put white colour packet in the jar 3- put the blue colour packet in the jar 4- put white colour packet in the jar 5- put the white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin Q: immediate next step? \u003cPRED\u003eA: put the white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white colour packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white colour packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17407430006236865850.mp4"}
+{"uid":"13670696344312605109","text":"\u003ctask:success:discrete:True\u003e\nplace the cup in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup in the dust bin\n\u003c/PRED\u003e","video":"2263761657273428923.mp4"}
+{"uid":"15414084329686720557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace peas 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":"12288031791882797159.mp4"}
+{"uid":"17141239082590380219","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put white colour packet in the jar 3- put the white colour packet in the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"3486068653985511260.mp4"}
+{"uid":"2345538950560040737","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the crushed brown paper in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the crushed brown paper in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the crushed brown paper in the dustbin 2- put the white colour packet in the jar 3- put white colour packet in the jar 4- put the blue colour packet in the jar 5- put white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the crushed brown paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the crushed brown paper in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin Q: immediate next step? \u003cPRED\u003eA: put the crushed brown paper in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the crushed brown paper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16306756575687882766.mp4"}
+{"uid":"14793938227927760524","text":"\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the white colour packet in the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"11862853398660268285.mp4"}
+{"uid":"4582133179283319890","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":"7975645190173506870.mp4"}
+{"uid":"13321064633272103286","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the cup in the dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup in the dust bin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup in the dust bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup in the dust bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: place the cup in the dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup in the dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12531467521161884189.mp4"}
+{"uid":"18090177730029860278","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15939637633849522236.mp4"}
+{"uid":"6910755457864711898","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put apple on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12788076624726637962.mp4"}
+{"uid":"9393978893461387413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16529457518873347783.mp4"}
+{"uid":"18184090965091583764","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin Q: immediate next step? \u003cPRED\u003eA: put the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper in the dustbin 2- put the white colour packet in the jar 3- put white colour packet in the jar 4- put the blue colour packet in the jar 5- put white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper in the dustbin\n\u003c/PRED\u003e","video":"16106060220942872714.mp4"}
+{"uid":"18053056868445818813","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar 7- put white colour packet in the jar 8- put the white colour packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar 7- put white colour packet in the jar 8- put the white colour packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white colour packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white colour packet in the jar\n\u003c/PRED\u003e","video":"10712484382662624750.mp4"}
+{"uid":"6475101735591918646","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3373636367241608807.mp4"}
+{"uid":"6022498241037061329","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange candy in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2867394186904108083.mp4"}
+{"uid":"1893518954703244000","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13123378719647518731.mp4"}
+{"uid":"13066189058109463834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3404481275107851637.mp4"}
+{"uid":"6529756908989866261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spatula 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":"2013072132791518777.mp4"}
+{"uid":"12460815095375041768","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the crushed paper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the crushed paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16284524920990054106.mp4"}
+{"uid":"11204418736802412710","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- put white colour packet in the jar 3- put the white colour packet in the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e","video":"9328323990653055109.mp4"}
+{"uid":"14815588457501012573","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":"14478134470771527272.mp4"}
+{"uid":"17911256290092370550","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"6401160310214303847.mp4"}
+{"uid":"335731752317649250","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue colour packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue colour packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue colour packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the blue colour packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue colour packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the blue colour packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue colour packet in the jar 2- put white colour packet in the jar 3- put the white colour packet in the jar 4- done\n\u003c/PRED\u003e","video":"12347869244897973630.mp4"}
+{"uid":"9177712210548043743","text":"\u003ctask:success:discrete:True\u003e\nput the white colour packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white colour packet in the jar\n\u003c/PRED\u003e","video":"9889323929877623603.mp4"}
+{"uid":"9786038723774374570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black cable in the cardboard sheet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9525563931830183103.mp4"}
+{"uid":"18276185901686333494","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the table with the wipe\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am going to library can you clean the desk with the wipe and pull out a chair. last 20 steps: 1- open the yellow packet 2- pick up the wipe 3- place the wipe on the table 4- clean the table with the wipe Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the table with the wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 the wipe and pull out a chair. last 20 steps: 1- open the yellow packet 2- pick up the wipe 3- place the wipe on the table 4- clean the table with the wipe Q: next 5 steps? \u003cPRED\u003eA: 1- pull the chair 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am going to library can you clean the desk with the wipe and pull out a chair Q: immediate next step? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the chair\n\u003c/PRED\u003e","video":"9876415041078070440.mp4"}
+{"uid":"14152793989420364767","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper cup in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper cup in the dustbin\n\u003c/PRED\u003e","video":"760603456912510230.mp4"}
+{"uid":"10459171567751530751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9813236860787361190.mp4"}
+{"uid":"6113248289885851435","text":"\u003ctask:success:discrete:True\u003e\nput the paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper in the dustbin\n\u003c/PRED\u003e","video":"11640204460769790045.mp4"}
+{"uid":"15495635545778840624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16439148238288375230.mp4"}
+{"uid":"4144922942013590178","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e","video":"14840837873354818234.mp4"}
+{"uid":"13179952734697797729","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- put white colour packet in the jar 3- put the white colour packet in the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e","video":"15099708763714067164.mp4"}
+{"uid":"2095270673194434124","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put apple on the table 8- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put apple on the table 8- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- done\n\u003c/PRED\u003e","video":"8220876168758122938.mp4"}
+{"uid":"3785901605378242337","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar 7- put white colour packet in the jar 8- put the packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar 7- put white colour packet in the jar 8- put the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9178142185468490025.mp4"}
+{"uid":"7420613702664558404","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the crushed brown paper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the crushed brown paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2651069229436074051.mp4"}
+{"uid":"10569419420792496968","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am going to library can you clean the desk with the wipe and pull out a chair. last 20 steps: 1- open the yellow packet 2- pick up the wipe 3- place the wipe on the table 4- clean the table with the wipe 5- pull the chair Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npull the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the chair\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 the wipe and pull out a chair. last 20 steps: 1- open the yellow packet 2- pick up the wipe 3- place the wipe on the table 4- clean the table with the wipe 5- pull the chair Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am going to library can you clean the desk with the wipe and pull out a chair Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10079137182158719485.mp4"}
+{"uid":"727709679473755586","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"752555007215408187.mp4"}
+{"uid":"16709955965611229330","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"361079835762347522.mp4"}
+{"uid":"2105889046245448149","text":"\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar 7- put white colour packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar 7- put white colour packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"13706781663967382191.mp4"}
+{"uid":"6818531882006878952","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick another pink candy kept on the table and put it in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9113128842363482952.mp4"}
+{"uid":"1954574999779220882","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white colour packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8431745520408942246.mp4"}
+{"uid":"17439884314896924024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11495040655367118364.mp4"}
+{"uid":"1481243595717132153","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put apple on the table 3- put pear on the table 4- put pear on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"9453789520037315334.mp4"}
+{"uid":"18405599643914793637","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar 7- put white colour packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white colour packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white colour packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin 4- put the white colour packet in the jar 5- put white colour packet in the jar 6- put the blue colour packet in the jar 7- put white colour packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white colour packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the white colour packet in the jar\n\u003c/PRED\u003e","video":"17591160989788527852.mp4"}
+{"uid":"7017559496006842481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13970212940860803465.mp4"}
+{"uid":"14984542763079643532","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put white colour packet in the jar 3- put the blue colour packet in the jar 4- put white colour packet in the jar 5- put the white colour packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- put the paper cup in the dustbin 2- put the paper cup in the dustbin 3- put the crushed brown paper in the dustbin Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2984363393393436012.mp4"}
+{"uid":"167105368346858906","text":"\u003ctask:success:discrete:True\u003e\nput white colour packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white colour packet in the jar\n\u003c/PRED\u003e","video":"10016517374345839332.mp4"}
+{"uid":"16221283902291667003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15867118156080319891.mp4"}
+{"uid":"7495267777349309413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRotate 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":"13217969683466159185.mp4"}
+{"uid":"3921796044973138760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green 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":"17789401478189965574.mp4"}
+{"uid":"7178593387303544263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6518445590864123590.mp4"}
+{"uid":"5332546594555396278","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the cap from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16580140136355901468.mp4"}
+{"uid":"4136125322906369283","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case 8- place the black pen into the pen case 9- place the black pen into the pen case 10- place the sticky notes on the tray table 11- arrange the sticky notes Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case 8- place the black pen into the pen case 9- place the black pen into the pen case 10- place the sticky notes on the tray table 11- arrange the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen into the pen case 2- push the tray table into the corner 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e","video":"12998497957645128957.mp4"}
+{"uid":"18380793194999917572","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder 4- put the pista into the paper cup 5- put the pista into the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e","video":"12625059369633926327.mp4"}
+{"uid":"17318713421272920841","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case 8- place the black pen into the pen case 9- place the black pen into the pen case 10- place the sticky notes on the tray table 11- arrange the sticky notes 12- place the black pen into the pen case 13- push the tray table into the corner Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the tray table into the corner\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case 8- place the black pen into the pen case 9- place the black pen into the pen case 10- place the sticky notes on the tray table 11- arrange the sticky notes 12- place the black pen into the pen case 13- push the tray table into the corner Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the tray table into the corner Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8359278054885641254.mp4"}
+{"uid":"8678407136683251533","text":"\u003ctask:success:discrete:True\u003e\nclose the lid of the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the lid of the jar\n\u003c/PRED\u003e","video":"12668570085711292909.mp4"}
+{"uid":"3065104879428695070","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14319091172864789537.mp4"}
+{"uid":"10961628537506623574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the apple from the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3968510180710418245.mp4"}
+{"uid":"4784752705506195779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRotate the rebull can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2804127851833873736.mp4"}
+{"uid":"3657253406397657032","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the keys on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the keys on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the keys on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the keys on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. last 20 steps: 1- pick up keys 2- open the door 3- close the door 4- open the door Q: immediate next step? \u003cPRED\u003eA: place the keys on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. Q: immediate next step? \u003cPRED\u003eA: place the keys on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. last 20 steps: 1- pick up keys 2- open the door 3- close the door 4- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- place the keys on the table 2- done\n\u003c/PRED\u003e","video":"9527724499986862824.mp4"}
+{"uid":"15956260342617970473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"314596516203057995.mp4"}
+{"uid":"2314821287392892680","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the black pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4518985276324704134.mp4"}
+{"uid":"14922482498360207306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1126118100993316367.mp4"}
+{"uid":"776242258479290176","text":"\u003ctask:success:discrete:True\u003e\nUnstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Unstack the glass\n\u003c/PRED\u003e","video":"4629921437240840074.mp4"}
+{"uid":"10756648201615186967","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scoop into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder 4- put the pista into the paper cup 5- put the pista into the paper cup 6- put the pista into the paper cup Q: immediate next step? \u003cPRED\u003eA: put the scoop into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the scoop into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put the scoop into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scoop into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scoop into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder 4- put the pista into the paper cup 5- put the pista into the paper cup 6- put the pista into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the scoop into the pen holder 2- close the lid of the jar 3- pick up the paper cup from the table 4- put the paper cup on the table 5- done\n\u003c/PRED\u003e","video":"16472629688827732205.mp4"}
+{"uid":"11358241280418116056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10245058925444962484.mp4"}
+{"uid":"12420694768075975642","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lid of the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder 4- put the pista into the paper cup 5- put the pista into the paper cup 6- put the pista into the paper cup 7- put the scoop into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid of the jar 2- pick up the paper cup from the table 3- put the paper cup on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the lid of the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lid of the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lid of the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder 4- put the pista into the paper cup 5- put the pista into the paper cup 6- put the pista into the paper cup 7- put the scoop into the pen holder Q: immediate next step? \u003cPRED\u003eA: close the lid of the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: close the lid of the jar\n\u003c/PRED\u003e","video":"15824873450174691662.mp4"}
+{"uid":"6620551951604151532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow marker into the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18268273974163961498.mp4"}
+{"uid":"7836260682528939508","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tray table towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tray table 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":"11785983338950091289.mp4"}
+{"uid":"15840464103795179342","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a chocolate packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6067532920894091172.mp4"}
+{"uid":"12597050727688837287","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case 8- place the black pen into the pen case Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen into the pen case 2- place the sticky notes on the tray table 3- arrange the sticky notes 4- place the black pen into the pen case 5- push the tray table into the corner\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case 8- place the black pen into the pen case Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e","video":"15964716257878664960.mp4"}
+{"uid":"6617703138517801727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blueberry in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15059687937747641396.mp4"}
+{"uid":"12516765594388421058","text":"\u003ctask:success:discrete:False\u003e\nplace the tray table towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: place the tray table towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tray table towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tray table towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the tray table towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tray table towards the table\n\u003c/PRED\u003e","video":"11557639538201171908.mp4"}
+{"uid":"18012801387854922079","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen into the pen case 2- place the papers on the tray table 3- place the black pen into the pen case 4- place the black pen into the pen case 5- place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9532524612206229901.mp4"}
+{"uid":"14058033501806340878","text":"\u003ctask:success:discrete:False\u003e\nplace the sticky notes on the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky notes on the tray table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky notes on the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on the tray table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky notes on the tray table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on the tray table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky notes on the tray table 2- place the black pen into the pen case 3- place the papers on the tray table 4- place the black pen into the pen case 5- place the black pen into the pen case\n\u003c/PRED\u003e","video":"7305593642195148704.mp4"}
+{"uid":"7489925482225292642","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the paper cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the paper cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder 4- put the pista into the paper cup 5- put the pista into the paper cup 6- put the pista into the paper cup 7- put the scoop into the pen holder 8- close the lid of the jar Q: immediate next step? \u003cPRED\u003eA: pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder 4- put the pista into the paper cup 5- put the pista into the paper cup 6- put the pista into the paper cup 7- put the scoop into the pen holder 8- close the lid of the jar Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the paper cup from the table 2- put the paper cup on the table 3- done\n\u003c/PRED\u003e","video":"13428810406751758277.mp4"}
+{"uid":"11330329374306851123","text":"\u003ctask:success:discrete:True\u003e\nplace the sticky notes on the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sticky notes on the tray table\n\u003c/PRED\u003e","video":"13183677797897973371.mp4"}
+{"uid":"5234281969866823194","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the papers on the tray table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the papers on the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1390120259277725067.mp4"}
+{"uid":"5605352620073495337","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple inside the container box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3283563739071487259.mp4"}
+{"uid":"9448546387580534724","text":"\u003ctask:success:discrete:False\u003e\nput the paper cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder 4- put the pista into the paper cup 5- put the pista into the paper cup 6- put the pista into the paper cup 7- put the scoop into the pen holder 8- close the lid of the jar 9- pick up the paper cup from the table Q: immediate next step? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder 4- put the pista into the paper cup 5- put the pista into the paper cup 6- put the pista into the paper cup 7- put the scoop into the pen holder 8- close the lid of the jar 9- pick up the paper cup from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper cup on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e","video":"5731099253529773258.mp4"}
+{"uid":"8963782612393113975","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to the cardboard box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11794779932183182614.mp4"}
+{"uid":"11937865163324995246","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up keys\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. Q: immediate next step? \u003cPRED\u003eA: pick up keys\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up keys Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 forgot my car keys in RC5. Please bring them to the library. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up keys\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up keys 2- open the door 3- close the door 4- open the door 5- place the keys on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up keys Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 keys\n\u003c/PRED\u003e","video":"1533508066702705240.mp4"}
+{"uid":"610749065365380361","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: arrange the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case 8- place the black pen into the pen case 9- place the black pen into the pen case 10- place the sticky notes on the tray table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the sticky notes 2- place the black pen into the pen case 3- push the tray table into the corner 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the sticky notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case 8- place the black pen into the pen case 9- place the black pen into the pen case 10- place the sticky notes on the tray table Q: immediate next step? \u003cPRED\u003eA: arrange the sticky notes\n\u003c/PRED\u003e","video":"13818824432700624915.mp4"}
+{"uid":"1951039408583419674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick  up the blue marker from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13213790618816158599.mp4"}
+{"uid":"3717427481745772830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12088581322870597039.mp4"}
+{"uid":"5998793378151715414","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the illy 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":"4034233792217791085.mp4"}
+{"uid":"12781671463795296927","text":"\u003ctask:success:discrete:True\u003e\nplace the black pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e","video":"14629928974034081030.mp4"}
+{"uid":"6894657345190969795","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen into the pen case 2- place the black pen into the pen case 3- place the black pen into the pen case 4- place the black pen into the pen case 5- place the sticky notes on the tray table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e","video":"17945615672106307473.mp4"}
+{"uid":"5890759395159651770","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the papers on the tray table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case Q: next 5 steps? \u003cPRED\u003eA: 1- place the papers on the tray table 2- place the black pen into the pen case 3- place the black pen into the pen case 4- place the black pen into the pen case 5- place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case Q: immediate next step? \u003cPRED\u003eA: place the papers on the tray table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: place the papers on the tray table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the papers on the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the papers on the tray table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the papers on the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9457973381922313915.mp4"}
+{"uid":"2646714315674388004","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky notes on the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case 8- place the black pen into the pen case 9- place the black pen into the pen case Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on the tray table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky notes on the tray table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky notes on the tray table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on the tray table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case 8- place the black pen into the pen case 9- place the black pen into the pen case Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky notes on the tray table 2- arrange the sticky notes 3- place the black pen into the pen case 4- push the tray table into the corner 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky notes on the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"600704836022935634.mp4"}
+{"uid":"10099695572161591888","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the black pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17127680919432346223.mp4"}
+{"uid":"1562702076321994173","text":"\u003ctask:success:discrete:True\u003e\nput the pista into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e","video":"5816395793862455470.mp4"}
+{"uid":"12402599037645772455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9213360455229293552.mp4"}
+{"uid":"15585878284223520920","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace diet pepper 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":"1456704984568088486.mp4"}
+{"uid":"14186525727027086959","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pista into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1412348193981803625.mp4"}
+{"uid":"1388832011241756740","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":"12905402529524421389.mp4"}
+{"uid":"3361280107561508001","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"890615693756333093.mp4"}
+{"uid":"1058855229653341175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14421476636709642179.mp4"}
+{"uid":"4306642435277887956","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen into the pen case 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- arrange the sticky notes 5- place the black pen into the pen case\n\u003c/PRED\u003e","video":"9664915248881155769.mp4"}
+{"uid":"12896197780150862004","text":"\u003ctask:success:discrete:True\u003e\nplace the lid on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e","video":"13547107927942577126.mp4"}
+{"uid":"13171881201630529700","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npush the tray table into the corner Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: push the tray table into the corner\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the tray table into the corner Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the tray table into the corner\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case 8- place the black pen into the pen case 9- place the black pen into the pen case 10- place the sticky notes on the tray table 11- arrange the sticky notes 12- place the black pen into the pen case Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray table into the corner 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case 7- place the black pen into the pen case 8- place the black pen into the pen case 9- place the black pen into the pen case 10- place the sticky notes on the tray table 11- arrange the sticky notes 12- place the black pen into the pen case Q: immediate next step? \u003cPRED\u003eA: push the tray table into the corner\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray table into the corner\n\u003c/PRED\u003e","video":"15168621155348284016.mp4"}
+{"uid":"18002002764155242574","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. last 20 steps: 1- pick up keys Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- close the door 3- open the door 4- place the keys on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. last 20 steps: 1- pick up keys Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e","video":"13145359226990903624.mp4"}
+{"uid":"7459456477525522880","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":"13058688393257206975.mp4"}
+{"uid":"207666160533234034","text":"\u003ctask:success:discrete:True\u003e\nput the pista into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e","video":"4114534784990619684.mp4"}
+{"uid":"17031085421033237329","text":"\u003ctask:success:discrete:False\u003e\nplace the black pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table 2- place the black pen into the pen case 3- place the sticky notes on the tray table 4- place the black pen into the pen case 5- place the papers on the tray table 6- place the black pen into the pen case Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen into the pen case 2- place the black pen into the pen case 3- place the black pen into the pen case 4- place the sticky notes on the tray table 5- arrange the sticky notes\n\u003c/PRED\u003e","video":"13899604432229264326.mp4"}
+{"uid":"7268679959217009667","text":"\u003ctask:success:discrete:True\u003e\nplace the black pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e","video":"3958451138075092452.mp4"}
+{"uid":"2838229774141110232","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pista into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder 4- put the pista into the paper cup 5- put the pista into the paper cup Q: immediate next step? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder 4- put the pista into the paper cup 5- put the pista into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pista into the paper cup 2- put the scoop into the pen holder 3- close the lid of the jar 4- pick up the paper cup from the table 5- put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e","video":"1280263825424051189.mp4"}
+{"uid":"17659084086286173543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tumbler 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":"17017596156444011645.mp4"}
+{"uid":"9987172155010828841","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":"10265246854526973912.mp4"}
+{"uid":"2462666006637766403","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. last 20 steps: 1- pick up keys 2- open the door 3- close the door Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. last 20 steps: 1- pick up keys 2- open the door 3- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- place the keys on the table 3- done\n\u003c/PRED\u003e","video":"546397648715671892.mp4"}
+{"uid":"15119726171747715798","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the table 2- pick up the scoop from the pen holder 3- put the pista into the paper cup 4- put the pista into the paper cup 5- put the pista into the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass Q: immediate next step? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e","video":"7018537394707135081.mp4"}
+{"uid":"12546657589967928317","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pista into the paper cup 2- put the pista into the paper cup 3- put the pista into the paper cup 4- put the scoop into the pen holder 5- close the lid of the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pista into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pista into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e","video":"13935049383911029838.mp4"}
+{"uid":"18270491620846187288","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table Q: immediate next step? \u003cPRED\u003eA: pick up the scoop from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the scoop from the pen holder 2- put the pista into the paper cup 3- put the pista into the paper cup 4- put the pista into the paper cup 5- put the scoop into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the scoop from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the scoop from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the scoop from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the scoop from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: pick up the scoop from the pen holder\n\u003c/PRED\u003e","video":"4532704779781782800.mp4"}
+{"uid":"6277932132131797036","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake out one wipe from the wipe 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":"3108009643857801074.mp4"}
+{"uid":"806325089732207442","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen into the pen case 2- place the sticky notes on the tray table 3- place the black pen into the pen case 4- place the papers on the tray table 5- place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Meeting is ovre, can you pick up the pens and note pads from the table. last 20 steps: 1- place the tray table towards the table Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen case\n\u003c/PRED\u003e","video":"11900457285387290679.mp4"}
+{"uid":"13098403326832303741","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. last 20 steps: 1- pick up keys 2- open the door Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I forgot my car keys in RC5. Please bring them to the library. last 20 steps: 1- pick up keys 2- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- open the door 3- place the keys on the table 4- done\n\u003c/PRED\u003e","video":"12539575163785984117.mp4"}
+{"uid":"10693820146865258270","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pista into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder 4- put the pista into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pista into the paper cup 2- put the pista into the paper cup 3- put the scoop into the pen holder 4- close the lid of the jar 5- pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab me a bowl of pistachios from the MK?. last 20 steps: 1- Unstack the glass 2- place the lid on the table 3- pick up the scoop from the pen holder 4- put the pista into the paper cup Q: immediate next step? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pista into the paper cup\n\u003c/PRED\u003e","video":"5800418225450700072.mp4"}
+{"uid":"10550792515350873127","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":"7697365994660456034.mp4"}
+{"uid":"1730998064117624003","text":"\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"6464628540382735303.mp4"}
+{"uid":"2553948668406018084","text":"\u003ctask:success:discrete:True\u003e\nPick up the tissue paper 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 tissue paper from the table\n\u003c/PRED\u003e","video":"2445702356938142147.mp4"}
+{"uid":"18216956087633501887","text":"\u003ctask:success:discrete:True\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e","video":"2060328717109520780.mp4"}
+{"uid":"1742002648398470988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8103380000073806355.mp4"}
+{"uid":"10531796253791857729","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"2464664952385175329.mp4"}
+{"uid":"12794647205794485100","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Enter into the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nEnter into the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin 11- Enter into the room Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin 11- Enter into the room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2322296727884601617.mp4"}
+{"uid":"7871280034123679568","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin Q: immediate next step? \u003cPRED\u003eA: Enter the meeting room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the meeting room 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nEnter the meeting room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter the meeting room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter the meeting room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Enter the meeting room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter the meeting 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":"11090743999164738990.mp4"}
+{"uid":"10552772122627325328","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter into the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin Q: next 5 steps? \u003cPRED\u003eA: 1- Enter into the room 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter into the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Enter into the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter into the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin Q: immediate next step? \u003cPRED\u003eA: Enter into the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nEnter into the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16735189337274466100.mp4"}
+{"uid":"13105187849093118407","text":"\u003ctask:success:discrete:False\u003e\nDrop the paper cup into the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the paper cup into the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Drop the paper cup into the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the paper cup into the trash bin 2- Enter the room 3- Move to the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the paper cup into the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the paper cup into the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin Q: immediate next step? \u003cPRED\u003eA: Drop the paper cup into the trash bin\n\u003c/PRED\u003e","video":"16107991410420287066.mp4"}
+{"uid":"813686516621168753","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white stone 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":"14783015089095220831.mp4"}
+{"uid":"8320773239101022856","text":"\u003ctask:success:discrete:True\u003e\nMove away from the compost bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the compost bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e","video":"18279409899293254335.mp4"}
+{"uid":"17791126735817081682","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the compost bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin Q: immediate next step? \u003cPRED\u003eA: Move away from the compost bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the compost bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the compost bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move away from the compost bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the compost bin 2- Move to the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the compost bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin Q: immediate next step? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the right 2- Move to the table 3- done\n\u003c/PRED\u003e","video":"11412903533960038932.mp4"}
+{"uid":"7340076821347270342","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green box in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5846166315480932.mp4"}
+{"uid":"10355413913196632156","text":"\u003ctask:success:discrete:True\u003e\nPick up the paper cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the paper cup on the table\n\u003c/PRED\u003e","video":"10833751499031603918.mp4"}
+{"uid":"15642516835439096719","text":"\u003ctask:success:discrete:True\u003e\nMove towards the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the door\n\u003c/PRED\u003e","video":"1886863920359968070.mp4"}
+{"uid":"3500597434960432585","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the paper bowl 2- Move towards the door 3- Move towards the compost bin 4- Move your arm upwards 5- Drop the paper bowl in the compost bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Grasp the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table Q: immediate next step? \u003cPRED\u003eA: Grasp the paper bowl\n\u003c/PRED\u003e","video":"16341851700869201269.mp4"}
+{"uid":"17016912861526479074","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move towards the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the door 2- Move towards the compost bin 3- Move your arm upwards 4- Drop the paper bowl in the compost bin 5- Move away from the compost bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl Q: immediate next step? \u003cPRED\u003eA: Move towards the door\n\u003c/PRED\u003e","video":"13803189660372512248.mp4"}
+{"uid":"1293230639690934706","text":"\u003ctask:success:discrete:True\u003e\nMove away from the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the recycle bin\n\u003c/PRED\u003e","video":"10710629389817114913.mp4"}
+{"uid":"10168606103011674322","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e","video":"3319657847403822867.mp4"}
+{"uid":"17585343457840477361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the blue marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pistachio in right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8847070027299590846.mp4"}
+{"uid":"10686864573634951615","text":"\u003ctask:success:discrete:True\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"15668617066452975515.mp4"}
+{"uid":"5986563386015708527","text":"\u003ctask:success:discrete:True\u003e\nMove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e","video":"10168544895065406699.mp4"}
+{"uid":"18180276286632146884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4117955590772163164.mp4"}
+{"uid":"191125261295395485","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15879651450137186034.mp4"}
+{"uid":"5059519031706990240","text":"\u003ctask:success:discrete:False\u003e\nPick up the tissue paper 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 tissue paper from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the tissue paper from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the tissue paper from the table 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the tissue paper from the table\n\u003c/PRED\u003e","video":"12338333518394809544.mp4"}
+{"uid":"14472756127186103573","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin 11- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin 11- Move to the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2703144729821999227.mp4"}
+{"uid":"12493069709898575390","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow the tissue paper into the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the tissue paper into the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the dustbin 2- Push the tissue into the right side bin 3- Move to the table 4- Grasp the paper bowl 5- Move towards the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the tissue paper into the trash bin 2- Move to the table 3- Grasp the paper bowl 4- Move towards the door 5- Move towards the compost bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue Q: immediate next step? \u003cPRED\u003eA: Throw the tissue paper into the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Throw the tissue paper into the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the tissue paper into the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue Q: immediate next step? \u003cPRED\u003eA: Move towards the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move towards the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the tissue paper into the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the dustbin\n\u003c/PRED\u003e","video":"6819406396259148757.mp4"}
+{"uid":"10631224607322550868","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16452490965349352131.mp4"}
+{"uid":"6865669508819949107","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nTouch the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTouch the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin Q: next 5 steps? \u003cPRED\u003eA: 1- Touch the paper cup 2- Move towards the door 3- Move towards the compost bin 4- Move your arm upwards 5- Drop the paper bowl in the compost bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Touch the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Touch the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin Q: immediate next step? \u003cPRED\u003eA: Touch the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Touch the paper cup\n\u003c/PRED\u003e","video":"12828288126777464151.mp4"}
+{"uid":"17103507794254848679","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace scoop 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":"17540856352324361986.mp4"}
+{"uid":"10072147631231476354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bowl in the right position Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"899183737628017168.mp4"}
+{"uid":"8710436535198189985","text":"\u003ctask:success:discrete:True\u003e\nPick up the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the tissue\n\u003c/PRED\u003e","video":"10907263692787058372.mp4"}
+{"uid":"6742070720419864395","text":"\u003ctask:success:discrete:True\u003e\nMove towards the compost bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the compost bin\n\u003c/PRED\u003e","video":"12336895289354739487.mp4"}
+{"uid":"6044578768347986593","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the compost bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the compost bin 2- Move your arm upwards 3- Drop the paper bowl in the compost bin 4- Move away from the compost bin 5- Enter the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the compost bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door Q: immediate next step? \u003cPRED\u003eA: Move towards the compost bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the compost bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the compost bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move towards the compost bin\n\u003c/PRED\u003e","video":"16588900752052218546.mp4"}
+{"uid":"16239363183477883046","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":"8767075028505728489.mp4"}
+{"uid":"4122638542430459823","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin 11- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the table 2- 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:success:discrete:False\u003e\nMove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin 11- Enter the room Q: immediate next step? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e","video":"1010986115732363788.mp4"}
+{"uid":"14966692962680744873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the bottle in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4544314959892828260.mp4"}
+{"uid":"14325699300828334689","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Move your arm upwards 3- Drop the paper bowl in the compost bin 4- Move away from the compost bin 5- Enter 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":"1115070847342006462.mp4"}
+{"uid":"9963824689091774603","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move the paper cup towards the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the paper cup towards the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the paper cup towards the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the paper cup towards the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the paper cup towards the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door Q: next 5 steps? \u003cPRED\u003eA: 1- Move the paper cup towards the recycle bin 2- Drop the paper bowl in the compost bin 3- Move away from the compost bin 4- Enter the room 5- Move to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door Q: immediate next step? \u003cPRED\u003eA: Move the paper cup towards the recycle bin\n\u003c/PRED\u003e","video":"4313281968349635688.mp4"}
+{"uid":"916737532682577823","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the tissue paper on the table 2- Push the tissue into the right side bin 3- Move to the table 4- Grasp the paper bowl 5- Move towards the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper on the table\n\u003c/PRED\u003e","video":"7327236348118983699.mp4"}
+{"uid":"13923284005885746666","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the paper cup in the recycle bin 2- Move away from the compost bin 3- Enter the room 4- Move to the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the paper cup in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin Q: immediate next step? \u003cPRED\u003eA: Drop the paper cup in the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the paper cup in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the paper cup in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Drop the paper cup in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the paper cup in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4201185831818790789.mp4"}
+{"uid":"8609956977725493563","text":"\u003ctask:success:discrete:True\u003e\nDrop the paper bowl in the compost bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the paper bowl in the compost bin\n\u003c/PRED\u003e","video":"3243796892974606913.mp4"}
+{"uid":"5077227205244360803","text":"\u003ctask:success:discrete:True\u003e\nPush the tissue into the right side bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Push the tissue into the right side bin\n\u003c/PRED\u003e","video":"7379750642441093796.mp4"}
+{"uid":"5515749355346826874","text":"\u003ctask:success:discrete:True\u003e\nMove to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e","video":"15659193616510156320.mp4"}
+{"uid":"822896717838319737","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tissue in the right trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tissue in the right trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue Q: immediate next step? \u003cPRED\u003eA: Place the tissue in the right trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tissue in the right trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tissue in the right trash bin 2- Grasp the paper bowl 3- Move towards the door 4- Move towards the compost bin 5- Move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tissue in the right trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Place the tissue in the right trash bin\n\u003c/PRED\u003e","video":"12315265105557298966.mp4"}
+{"uid":"17407787158109754593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8784135562249224952.mp4"}
+{"uid":"11773290412306877460","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the paper cup into the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the paper cup into the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16041607194736016802.mp4"}
+{"uid":"8079820989588836488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17879158604832286675.mp4"}
+{"uid":"13860024877316946882","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow marker in the small 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":"16251040432790945046.mp4"}
+{"uid":"639848833019758154","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin Q: immediate next step? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm upwards 2- Drop the paper bowl in the compost bin 3- Move away from the compost bin 4- Enter the room 5- Move to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e","video":"5234411544135839377.mp4"}
+{"uid":"11524638804318505062","text":"\u003ctask:success:discrete:True\u003e\nDrop the paper cup in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the paper cup in the recycle bin\n\u003c/PRED\u003e","video":"16757443645559653065.mp4"}
+{"uid":"7190471915131749759","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5936817254069313264.mp4"}
+{"uid":"17954500963408271813","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move away from the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin Q: immediate next step? \u003cPRED\u003eA: Move away from the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the recycle bin 2- Move to the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14532980604343387262.mp4"}
+{"uid":"17020490245787726830","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin 11- Enter the meeting room Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Enter the meeting room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nEnter the meeting 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin 11- Enter the meeting room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13252392772269697683.mp4"}
+{"uid":"3182122675682411102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14289563518214526381.mp4"}
+{"uid":"15189319167122762740","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the paper cup from the table 2- Move towards the compost bin 3- Move your arm upwards 4- Drop the paper bowl in the compost bin 5- Move away from the compost bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the paper cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the paper cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e","video":"12715077934729720501.mp4"}
+{"uid":"7448578524657350507","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10435099538468453357.mp4"}
+{"uid":"10771666006643718396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7501443959096560220.mp4"}
+{"uid":"622626109561620636","text":"\u003ctask:success:discrete:True\u003e\nThrow the tissue paper into the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw the tissue paper into the trash bin\n\u003c/PRED\u003e","video":"11987290456371228941.mp4"}
+{"uid":"752408664185532352","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the paper cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the paper cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the paper cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the paper cup on the table 2- Move towards the compost bin 3- Move your arm upwards 4- Drop the paper bowl in the compost bin 5- Move away from the compost bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the paper cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2923870411643561502.mp4"}
+{"uid":"11680068011264861666","text":"\u003ctask:success:discrete:True\u003e\nMove the paper cup towards the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the paper cup towards the recycle bin\n\u003c/PRED\u003e","video":"12303856507515213487.mp4"}
+{"uid":"6330281193736296211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15633482947295242269.mp4"}
+{"uid":"8368875180582123804","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":"16023415255548663923.mp4"}
+{"uid":"4040320475583212145","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13334769821411766764.mp4"}
+{"uid":"4349761542869262145","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the paper cup 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":"5401349881308938269.mp4"}
+{"uid":"2983295114648489612","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Push the tissue into the right side bin 2- Grasp the paper bowl 3- Move towards the door 4- Move towards the compost bin 5- Move your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the tissue into the right side bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Push the tissue into the right side bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the tissue into the right side bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the tissue into the right side bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin Q: immediate next step? \u003cPRED\u003eA: Push the tissue into the right side bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the tissue into the right side bin\n\u003c/PRED\u003e","video":"2565127427634976795.mp4"}
+{"uid":"14950579577577707739","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12414377009838350507.mp4"}
+{"uid":"16247867512084829296","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin Q: immediate next step? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the table 2- Grasp the paper bowl 3- Move towards the door 4- Move towards the compost bin 5- Move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e","video":"13635823552477617951.mp4"}
+{"uid":"13221785884358974759","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13299928705676334840.mp4"}
+{"uid":"13192058065167807428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"578577830259926321.mp4"}
+{"uid":"12276796613105135356","text":"\u003ctask:success:discrete:False\u003e\nMove to the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the trash bin 2- Drop the paper bowl in the compost bin 3- Move away from the compost bin 4- Enter the room 5- Move to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move to the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door Q: immediate next step? \u003cPRED\u003eA: Move to the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the trash bin\n\u003c/PRED\u003e","video":"7432709009894763296.mp4"}
+{"uid":"6934917778113845400","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin Q: immediate next step? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the right 2- Grasp the paper bowl 3- Move towards the door 4- Move towards the compost bin 5- Move your arm upwards\n\u003c/PRED\u003e","video":"13132426271428163777.mp4"}
+{"uid":"16365234911358795829","text":"\u003ctask:success:discrete:True\u003e\nMove towards the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the dustbin\n\u003c/PRED\u003e","video":"10029719936390448381.mp4"}
+{"uid":"16075485399325497169","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace that banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8300448907010806604.mp4"}
+{"uid":"17618988531253355247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red 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":"10071716631887269031.mp4"}
+{"uid":"7719513222383315994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16854515390937483210.mp4"}
+{"uid":"8341956073803392230","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12655646084143023896.mp4"}
+{"uid":"7802156351454004961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the holder 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":"3618922032102552756.mp4"}
+{"uid":"12055549983961431874","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table 2- Grasp the paper bowl 3- Move towards the door 4- Move towards the compost bin 5- Move your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e","video":"17713592458601922823.mp4"}
+{"uid":"7324412343439010530","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin 11- Enter the room 12- Move to the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin 11- Enter the room 12- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2056141328321336130.mp4"}
+{"uid":"9294919804405839663","text":"\u003ctask:success:discrete:True\u003e\nMove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e","video":"6189462250925976725.mp4"}
+{"uid":"13453833943838947959","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Move your arm upwards 3- Drop the paper bowl in the compost bin 4- Move away from the compost bin 5- Enter the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"6582941674269324840.mp4"}
+{"uid":"5897367988098058250","text":"\u003ctask:success:discrete:True\u003e\nPlace the tissue in the right trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tissue in the right trash bin\n\u003c/PRED\u003e","video":"2289418835516482875.mp4"}
+{"uid":"15693079540915078532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the box in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7033538956452283899.mp4"}
+{"uid":"17931383040945265557","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8048920981140231591.mp4"}
+{"uid":"4597856085046475737","text":"\u003ctask:success:discrete:False\u003e\nEnter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the room 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin Q: immediate next step? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e","video":"6924496487283975151.mp4"}
+{"uid":"17720114457968907422","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\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green pouches 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":"2106141262240240263.mp4"}
+{"uid":"5802766422390252431","text":"\u003ctask:success:discrete:True\u003e\nTouch the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Touch the paper cup\n\u003c/PRED\u003e","video":"4919778945125999061.mp4"}
+{"uid":"12640932949339549101","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Enter the room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nEnter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4361222374279247102.mp4"}
+{"uid":"9556645892201472111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the wire 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":"6280561848411902367.mp4"}
+{"uid":"12521499793156662969","text":"\u003ctask:success:discrete:False\u003e\nDrop the paper bowl in the compost bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the paper bowl in the compost bin 2- Move away from the compost bin 3- Enter the room 4- Move to the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards Q: immediate next step? \u003cPRED\u003eA: Drop the paper bowl in the compost bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the paper bowl in the compost bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the paper bowl in the compost bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the paper bowl in the compost bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Drop the paper bowl in the compost bin\n\u003c/PRED\u003e","video":"16039024240742493247.mp4"}
+{"uid":"9907125869584137440","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin 11- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw this tissue in the trash can by the door and then go compost the paper bowl into the compost bin outside this room near the elevator. last 20 steps: 1- Pick up the tissue 2- Move towards the dustbin 3- Push the tissue into the right side bin 4- Move to the table 5- Grasp the paper bowl 6- Move towards the door 7- Move towards the compost bin 8- Move your arm upwards 9- Drop the paper bowl in the compost bin 10- Move away from the compost bin 11- Enter the room Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e","video":"11288191949905216708.mp4"}
+{"uid":"4799007394582453669","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the pen stand 2- put the  packet into the jar 3- put the  packet into the jar 4- put the  packet into the jar 5- put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the orange 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 orange pen in the pen stand\n\u003c/PRED\u003e","video":"5220480238489271377.mp4"}
+{"uid":"4281263372972545722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut white 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":"5048092112668968466.mp4"}
+{"uid":"15053573193275738001","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue 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 snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen stand 2- put the  pen into the pen stand 3- put the  packet into the jar 4- put the  packet into the jar 5- put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e","video":"7438719842742833459.mp4"}
+{"uid":"15598244704077172190","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar 8- put the  packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar 8- put the  packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"7115253578285955644.mp4"}
+{"uid":"4829204588332149840","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the  packet into the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"17087307954819571096.mp4"}
+{"uid":"15396544427108662032","text":"\u003ctask:success:discrete:True\u003e\nput the black 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 black pen in the pen stand\n\u003c/PRED\u003e","video":"14055478453132028516.mp4"}
+{"uid":"12263254431404698301","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the green can from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6742414755485917679.mp4"}
+{"uid":"17942961509650544188","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":"7375374617940946925.mp4"}
+{"uid":"16978597406833223848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove jar forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4044396914278293697.mp4"}
+{"uid":"13901974832412154340","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  pen into 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":"5069721695219007117.mp4"}
+{"uid":"16898574699359758787","text":"\u003ctask:success:discrete:True\u003e\nput the  pen into 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 into the pen stand\n\u003c/PRED\u003e","video":"558175499942623718.mp4"}
+{"uid":"337221022190393551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9032114083392710624.mp4"}
+{"uid":"14404063780228137810","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar 8- put the  packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet 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: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar 8- put the  packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e","video":"9950457529912889045.mp4"}
+{"uid":"9762764373999504806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop fork into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16224825053566220675.mp4"}
+{"uid":"17991512935352044352","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange 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":"16514285585943809389.mp4"}
+{"uid":"2344979360412812441","text":"\u003ctask:success:discrete:True\u003e\nput blue 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 blue pen in the pen stand\n\u003c/PRED\u003e","video":"14429753100898501828.mp4"}
+{"uid":"11610204457001530349","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8436466814788905489.mp4"}
+{"uid":"15060357621826169675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4683330562994403401.mp4"}
+{"uid":"7426100463316597365","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"803813353594989458.mp4"}
+{"uid":"11519534194426520962","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the jar 2- put the  packet into the jar 3- put the  packet into the jar 4- done\n\u003c/PRED\u003e","video":"1809431929800451684.mp4"}
+{"uid":"2030091588298319719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3579909395335257876.mp4"}
+{"uid":"6594266011542370923","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the jar 2- put the  packet into the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e","video":"1150414534307446897.mp4"}
+{"uid":"6928096225187377727","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen into 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 into the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen into the pen stand 2- put the  packet into the jar 3- put the  packet into the jar 4- put the  packet into the jar 5- put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e","video":"10840538138788482859.mp4"}
+{"uid":"15652632178437843506","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue 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":"6265887102091965818.mp4"}
+{"uid":"4910025858521745975","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"156422007293494549.mp4"}
+{"uid":"8494371648078537440","text":"\u003ctask:success:discrete:True\u003e\nput the blue 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 blue pen in the pen stand\n\u003c/PRED\u003e","video":"4389605081269358239.mp4"}
+{"uid":"13907210811719767841","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 2 sugar candies in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10578817227180102510.mp4"}
+{"uid":"17542261636939980379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker on the board slab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14857597252978981283.mp4"}
+{"uid":"2479888317113853708","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1187386756729417800.mp4"}
+{"uid":"3505103067204927786","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar 8- put the  packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar 8- put the  packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"139150783737202689.mp4"}
+{"uid":"11129347319449730015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14751033360851230940.mp4"}
+{"uid":"13624991444211073679","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue 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 snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the pen stand 2- put the  pen into the pen stand 3- put the  pen into the pen stand 4- put the  packet into the jar 5- put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue 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 blue pen in the pen stand\n\u003c/PRED\u003e","video":"16905255350410838972.mp4"}
+{"uid":"11403503630735048400","text":"\u003ctask:success:discrete:False\u003e\nput the  pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen into the pen stand 2- put the  pen into the pen stand 3- put the  packet into the jar 4- put the  packet into the jar 5- put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen into 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 snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the  pen into 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 into the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e","video":"619667297101832310.mp4"}
+{"uid":"14200368477554758739","text":"\u003ctask:success:discrete:True\u003e\nput the  pen into 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 into the pen stand\n\u003c/PRED\u003e","video":"17099132097275017803.mp4"}
+{"uid":"5089516494049788176","text":"\u003ctask:success:discrete:False\u003e\nput the blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the jar 2- put the  packet into the jar 3- put the  packet into the jar 4- put the  packet into the jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e","video":"13806598413207876682.mp4"}
+{"uid":"2912912812492378115","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen into the pen stand 2- put blue pen in the pen stand 3- put the  pen into the pen stand 4- put the  pen into the pen stand 5- put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  pen into 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 into 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 snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e","video":"15512987293948019669.mp4"}
+{"uid":"18279032049512159118","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":"13659472651099615768.mp4"}
+{"uid":"6758501323184602569","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar 8- put the  packet into the jar 9- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar 8- put the  packet into the jar 9- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"245588341966201988.mp4"}
+{"uid":"880810913668007981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12949695267398165449.mp4"}
+{"uid":"7747977960825147602","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the jar 2- put the  packet into the jar 3- put the  packet into the jar 4- put the  packet into the jar 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4335607086645428672.mp4"}
+{"uid":"2212694137251727159","text":"\u003ctask:success:discrete:True\u003e\nput the  packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e","video":"11308467291874464705.mp4"}
+{"uid":"8405467342906007154","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"2329431511618997325.mp4"}
+{"uid":"7114969063676179242","text":"\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue 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 blue 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 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen stand 2- put the  pen into the pen stand 3- put the  packet into the jar 4- put the  packet into the jar 5- put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e","video":"3966054960513311430.mp4"}
+{"uid":"16016000531237025166","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":"8054920277928810378.mp4"}
+{"uid":"8145521522517604221","text":"\u003ctask:success:discrete:False\u003e\nput the black 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen stand 2- put blue pen in the pen stand 3- put the  pen into the pen stand 4- put the  pen into the pen stand 5- put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black 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 snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the black 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 black pen in the pen stand\n\u003c/PRED\u003e","video":"11418257871351999072.mp4"}
+{"uid":"17189544381173089806","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen stand 2- put the  pen into the pen stand 3- put the  pen into the pen stand 4- put the  packet into the jar 5- put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue 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 snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue 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 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9306234255218421408.mp4"}
+{"uid":"17308288562300024273","text":"\u003ctask:success:discrete:True\u003e\nput the  packet 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar 8- put the  packet into the jar 9- put the  packet into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar 8- put the  packet into the jar 9- put the  packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11113981895400492395.mp4"}
+{"uid":"155150129138365243","text":"\u003ctask:success:discrete:True\u003e\nput the  packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e","video":"15194223737800764416.mp4"}
+{"uid":"12002089307910938063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14205539775132128480.mp4"}
+{"uid":"17185309881660396074","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the  packet into the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"12755494241006502546.mp4"}
+{"uid":"17452074447565789844","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":"11210423739101261368.mp4"}
+{"uid":"9827810961644856790","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the  packet into the jar 3- put the  packet into the jar 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"11370808087071543404.mp4"}
+{"uid":"16932614013913711336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace clip in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6505572861967207220.mp4"}
+{"uid":"5264257110236296962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the cart to the right side of the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1778926686937305804.mp4"}
+{"uid":"11268900325214449976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the measuring tape into the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"793102680549327067.mp4"}
+{"uid":"7633828690042354385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue object in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13999044384977698115.mp4"}
+{"uid":"13607109592227568357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sponge in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14506751370179845327.mp4"}
+{"uid":"5635386413131440407","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange 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":"6728569499313506952.mp4"}
+{"uid":"6393083956085265851","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10293834336410239739.mp4"}
+{"uid":"15966531576778522543","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black 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 black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen stand 2- put blue pen in the pen stand 3- put the  pen into the pen stand 4- put the  pen into the pen stand 5- put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e","video":"12954108003923027635.mp4"}
+{"uid":"8764180675909654171","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"11023083474725727471.mp4"}
+{"uid":"7971865699562898148","text":"\u003ctask:success:discrete:True\u003e\nput the  packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e","video":"3879654705649329784.mp4"}
+{"uid":"9317902295419791509","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the jar 2- put the  packet into the jar 3- put the  packet into the jar 4- put the  packet into the jar 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  packet into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the jar\n\u003c/PRED\u003e","video":"17291138869380276828.mp4"}
+{"uid":"10412437834523944304","text":"\u003ctask:success:discrete:True\u003e\nput the blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e","video":"13250162819030211823.mp4"}
+{"uid":"10801245820764855403","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the  packet into the jar 3- put the  packet into the jar 4- done\n\u003c/PRED\u003e","video":"14789237238552028268.mp4"}
+{"uid":"2797849340708710624","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar 8- put the  packet into the jar 9- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  packet into the jar 7- put the  packet into the jar 8- put the  packet into the jar 9- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"13132683636017216706.mp4"}
+{"uid":"2821861678513186547","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1189502795709976754.mp4"}
+{"uid":"18340129021292393314","text":"\u003ctask:success:discrete:False\u003e\nput the orange 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 snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- put the  packet into the organizer 2- put the black pen in the pen stand 3- put blue pen in the pen stand 4- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the pen stand 2- put the  packet into the jar 3- put the  packet into the jar 4- put the  packet into the jar 5- put the  packet into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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 snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the orange 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 orange pen in the pen stand\n\u003c/PRED\u003e","video":"18018476934256149679.mp4"}
+{"uid":"14162823570657193380","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":"10456893425761203206.mp4"}
+{"uid":"23360781085428084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8257478476576783498.mp4"}
+{"uid":"962946852978928503","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"731238238602275458.mp4"}
+{"uid":"9218759737775368922","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":"2400803919094906811.mp4"}
+{"uid":"11452976762162291280","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nslide the glass forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass Q: immediate next step? \u003cPRED\u003eA: slide the glass forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slide the glass forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slide the glass forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass Q: next 5 steps? \u003cPRED\u003eA: 1- slide the glass forward 2- slide the glass forward 3- alien the glass in the queue 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line Q: immediate next step? \u003cPRED\u003eA: slide the glass forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslide the glass forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18285106933725678277.mp4"}
+{"uid":"16802901859022027879","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8826404550509188142.mp4"}
+{"uid":"8011933147459441029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the orange packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17801220601693838529.mp4"}
+{"uid":"10876268814999003917","text":"\u003ctask:success:discrete:True\u003e\nslide the glass forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slide the glass forward\n\u003c/PRED\u003e","video":"69259083518061499.mp4"}
+{"uid":"4187591777224456181","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slide the cup forward on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nslide the cup forward on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1987346301359239966.mp4"}
+{"uid":"17052578577204474480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10846629125470560437.mp4"}
+{"uid":"11980040019995834387","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17083518373481341889.mp4"}
+{"uid":"4240674852862328921","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1747524690041608046.mp4"}
+{"uid":"3783997734377093067","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the green cup on the table 2- slide the glass toward green glass 3- slide the glass forward 4- slide the glass forward 5- alien the glass in the queue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line Q: immediate next step? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9930517302329529100.mp4"}
+{"uid":"4754785574043658940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the holder to left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12288539445199352118.mp4"}
+{"uid":"9517994575125272756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pen in the top tray of the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3659944385764750304.mp4"}
+{"uid":"14203367896575986042","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5054372957677425755.mp4"}
+{"uid":"17688513358296313622","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- place the orange packet in the tray 3- push the tray back 4- place the orange packet in the tray 5- push the tray back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"17679537741779776245.mp4"}
+{"uid":"7666261585131912919","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":"1729665173838400425.mp4"}
+{"uid":"8760076199029550461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the grey cloth into the right 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":"2338293228742578290.mp4"}
+{"uid":"8333850954993556790","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table Q: immediate next step? \u003cPRED\u003eA: slide the glass toward green glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line Q: immediate next step? \u003cPRED\u003eA: slide the glass toward green glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslide the glass toward green glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slide the glass toward green glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slide the glass toward green glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- slide the glass toward green glass 2- slide the glass forward 3- slide the glass forward 4- alien the glass in the queue 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslide the glass toward green glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10389239398597448478.mp4"}
+{"uid":"4186148980065632992","text":"\u003ctask:success:discrete:True\u003e\nslide the glass toward green glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slide the glass toward green glass\n\u003c/PRED\u003e","video":"1064438210316257007.mp4"}
+{"uid":"4113273521945264031","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nslide the cup forward on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slide the cup forward on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass Q: immediate next step? \u003cPRED\u003eA: slide the cup forward on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass Q: next 5 steps? \u003cPRED\u003eA: 1- slide the cup forward on the table 2- slide the glass forward 3- alien the glass in the queue 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line Q: immediate next step? \u003cPRED\u003eA: slide the cup forward on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslide the cup forward on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slide the cup forward on the table\n\u003c/PRED\u003e","video":"6252786005102409550.mp4"}
+{"uid":"7372171488995853324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12550098146993052111.mp4"}
+{"uid":"2645035019351352885","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"36577336133113391.mp4"}
+{"uid":"1282171064589143484","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray 10- push the tray back Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray 10- push the tray back Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- push the tray back 3- place the orange packet in the tray 4- push the tray back 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10098028319433922695.mp4"}
+{"uid":"17007491249759364947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen stand in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6557292764089094469.mp4"}
+{"uid":"1265198695470679753","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrag the tray out Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrag the tray out Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drag the tray out\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drag the tray out\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drag the tray out\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: drag the tray out\n\u003c/PRED\u003e","video":"17910376843318482074.mp4"}
+{"uid":"14253568914192097898","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray back 2- place the orange packet in the tray 3- push the tray back 4- place the orange packet in the tray 5- push the tray back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the tray back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the tray back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7891849640796276257.mp4"}
+{"uid":"3085938304410295766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16371638877927790432.mp4"}
+{"uid":"10890364563749913124","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slide the glass forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nslide the glass forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9066371747707835903.mp4"}
+{"uid":"8204613075662271015","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line Q: immediate next step? \u003cPRED\u003eA: slide the glass forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslide the glass forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass 3- slide the glass forward Q: immediate next step? \u003cPRED\u003eA: slide the glass forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass 3- slide the glass forward Q: next 5 steps? \u003cPRED\u003eA: 1- slide the glass forward 2- alien the glass in the queue 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slide the glass forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slide the glass forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslide the glass forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17612943888765268399.mp4"}
+{"uid":"6577600246812758080","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the green cup forward on the table 2- slide the glass toward green glass 3- slide the glass forward 4- slide the glass forward 5- alien the glass in the queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line Q: immediate next step? \u003cPRED\u003eA: place the green cup forward on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green cup forward on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green cup forward on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green cup forward on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the green cup forward on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green cup forward on the table\n\u003c/PRED\u003e","video":"9979282380818607802.mp4"}
+{"uid":"11197921296458704433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the paper cup in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"833562390706431697.mp4"}
+{"uid":"12708888474241655464","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass 3- slide the glass forward 4- slide the glass forward 5- alien the glass in the queue Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nalien the glass in the queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass 3- slide the glass forward 4- slide the glass forward 5- alien the glass in the queue Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: alien the glass in the queue\n\u003c/PRED\u003e","video":"9088767901335773618.mp4"}
+{"uid":"6981912744333926085","text":"\u003ctask:success:discrete:False\u003e\nslide the cup in the queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line Q: immediate next step? \u003cPRED\u003eA: slide the cup in the queue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslide the cup in the queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slide the cup in the queue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass 3- slide the glass forward 4- slide the glass forward Q: immediate next step? \u003cPRED\u003eA: slide the cup in the queue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slide the cup in the queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass 3- slide the glass forward 4- slide the glass forward Q: next 5 steps? \u003cPRED\u003eA: 1- slide the cup in the queue 2- done\n\u003c/PRED\u003e","video":"3438788923342346056.mp4"}
+{"uid":"6771956134352427644","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11529884494151701782.mp4"}
+{"uid":"11176817961467912640","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":"5325882172210472333.mp4"}
+{"uid":"6755671928459545535","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":"14843786195301709466.mp4"}
+{"uid":"15252945234773714892","text":"\u003ctask:success:discrete:True\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"5914059699762458997.mp4"}
+{"uid":"15332683238762339324","text":"\u003ctask:success:discrete:False\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray 10- push the tray back 11- place the orange packet in the tray 12- push the tray back Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- push the tray back 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray 10- push the tray back 11- place the orange packet in the tray 12- push the tray back Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13528815047000859313.mp4"}
+{"uid":"5557818203420019000","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slide the cup forward on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nslide the cup forward on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12268980083333141032.mp4"}
+{"uid":"8121181756433874293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake can to the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"730792142893940815.mp4"}
+{"uid":"13718912358212279150","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13192421093623440140.mp4"}
+{"uid":"7749848271999250947","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":"17639293772792254642.mp4"}
+{"uid":"18179240521885976413","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9589241710224295793.mp4"}
+{"uid":"14739476020110068392","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- push the tray back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"10347271715607346805.mp4"}
+{"uid":"13039897530200418140","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"2294850275618430301.mp4"}
+{"uid":"14923212179690953793","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nslide the cup forward on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slide the cup forward on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass 3- slide the glass forward Q: immediate next step? \u003cPRED\u003eA: slide the cup forward on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass 3- slide the glass forward Q: next 5 steps? \u003cPRED\u003eA: 1- slide the cup forward on the table 2- alien the glass in the queue 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slide the cup forward on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslide the cup forward on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line Q: immediate next step? \u003cPRED\u003eA: slide the cup forward on the table\n\u003c/PRED\u003e","video":"3783939284610635443.mp4"}
+{"uid":"15951182807367010625","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red pen on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6100832552909737318.mp4"}
+{"uid":"2290718769971856445","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- push the tray back 3- place the orange packet in the tray 4- push the tray back 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"17801200394282767502.mp4"}
+{"uid":"5163003690818134773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the silver packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6174290796248373883.mp4"}
+{"uid":"3609926176419933116","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray 10- push the tray back 11- place the orange packet in the tray 12- push the tray back 13- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray back 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the tray back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray 10- push the tray back 11- place the orange packet in the tray 12- push the tray back 13- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the tray back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3090532630276318687.mp4"}
+{"uid":"15946367505123824210","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slide the cup rightward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- slide the cup rightward 2- slide the glass forward 3- slide the glass forward 4- alien the glass in the queue 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslide the cup rightward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table Q: immediate next step? \u003cPRED\u003eA: slide the cup rightward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line Q: immediate next step? \u003cPRED\u003eA: slide the cup rightward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslide the cup rightward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slide the cup rightward\n\u003c/PRED\u003e","video":"9323976640688341280.mp4"}
+{"uid":"804208427844748766","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":"17155496849222466524.mp4"}
+{"uid":"15914515266066211365","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"8010152410341833641.mp4"}
+{"uid":"5292471288287707688","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass 3- slide the glass forward 4- slide the glass forward Q: immediate next step? \u003cPRED\u003eA: alien the glass in the queue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nalien the glass in the queue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: alien the glass in the queue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: alien the glass in the queue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line Q: immediate next step? \u003cPRED\u003eA: alien the glass in the queue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: make a horizontal line of the cups and put the green cup at the most northwest spot of the line. last 20 steps: 1- put the green cup on the table 2- slide the glass toward green glass 3- slide the glass forward 4- slide the glass forward Q: next 5 steps? \u003cPRED\u003eA: 1- alien the glass in the queue 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nalien the glass in the queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2710407506938552286.mp4"}
+{"uid":"14404123681670228086","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray 10- push the tray back 11- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray back 2- place the orange packet in the tray 3- push the tray back 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray 10- push the tray back 11- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the tray back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the tray back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the tray back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2973315882110664917.mp4"}
+{"uid":"4678083527257264221","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12774331252539267526.mp4"}
+{"uid":"15111430620655175194","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- place the orange packet in the tray 3- place the orange packet in the tray 4- push the tray back 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket. last 20 steps: 1- drag the tray out 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray 6- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Siete tortilla chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"13390250048024134711.mp4"}
+{"uid":"6029053022019784401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup upside down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13838313562232210624.mp4"}
+{"uid":"644152957723430834","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green cup forward on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the green cup forward on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7145342109404003854.mp4"}
+{"uid":"4154035573173112397","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":"5676330054728693477.mp4"}
+{"uid":"145006598161274879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sponge in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6686376913511610519.mp4"}
+{"uid":"8658644831415206210","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1029537245030485276.mp4"}
+{"uid":"5898025880868007582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12065775411769729508.mp4"}
+{"uid":"46064436096222887","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into tray 2- drop packet into tray 3- drop packet into tray 4- drop packet into tray 5- drop spoon into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11284871750808045020.mp4"}
+{"uid":"5261628257310759251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11371473264079944829.mp4"}
+{"uid":"5489977887370952615","text":"\u003ctask:success:discrete:False\u003e\npick up the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottle 2- enter the room 3- put the bottle in the bin 4- open the fridge door 5- pick the bottle out of the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e","video":"3739708939298411861.mp4"}
+{"uid":"1898444957522419628","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14386125898332083503.mp4"}
+{"uid":"16450395409715820838","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the drawer handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2636571165566367922.mp4"}
+{"uid":"6536708246903053448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput right cup on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1035011611986153979.mp4"}
+{"uid":"13974354820693964782","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the fridge door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the fridge door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7953164543780037334.mp4"}
+{"uid":"16879162666677926424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cherries in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6867547785540853589.mp4"}
+{"uid":"5562980465424184068","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- drop the orange into bowl 3- drop orange into bowl 4- drop packet into tray 5- drop packet into tray\n\u003c/PRED\u003e","video":"2742389393269610152.mp4"}
+{"uid":"1391254366989897269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tissue paper on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1089594539590705447.mp4"}
+{"uid":"6905727868480036987","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":"11950310574789568324.mp4"}
+{"uid":"8496425259556504970","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the organizer 2- drop the orange into bowl 3- drop orange into bowl 4- drop packet into tray 5- drop packet into 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 organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9033978785606002688.mp4"}
+{"uid":"5771151626543656698","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: 1- pick up the bottle 2- enter the room 3- put the bottle in the bin 4- open the fridge door 5- pick the bottle out of the fridge Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: 1- pick up the bottle 2- enter the room 3- put the bottle in the bin 4- open the fridge door 5- pick the bottle out of the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- put the bottle on the table 3- done\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":"12961813441264746959.mp4"}
+{"uid":"6615435635305208265","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray 11- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray 11- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e","video":"12254696021917623202.mp4"}
+{"uid":"4901098878931411211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16375934849128361707.mp4"}
+{"uid":"948332290361639066","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: 1- pick up the bottle 2- enter the room 3- put the bottle in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge door 2- pick the bottle out of the fridge 3- exit the room 4- put the bottle on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: 1- pick up the bottle 2- enter the room 3- put the bottle in the bin Q: immediate next step? \u003cPRED\u003eA: open the fridge door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk Q: immediate next step? \u003cPRED\u003eA: open the fridge door\n\u003c/PRED\u003e","video":"7386601028496970628.mp4"}
+{"uid":"9925859932821816340","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the organizer 2- drop the orange into bowl 3- drop orange into bowl 4- drop packet into tray 5- drop packet into 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 organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e","video":"2812487327096659681.mp4"}
+{"uid":"8287789377671032841","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into tray 2- drop packet into tray 3- drop spoon into stand 4- drop packet into tray 5- drop packet into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e","video":"139944460637274839.mp4"}
+{"uid":"14297596594899164503","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray 11- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray 11- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2905426429367439522.mp4"}
+{"uid":"18396095771128790795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass stack on existing stack in the glass stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5705692380415141207.mp4"}
+{"uid":"224460258084468104","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into tray\n\u003c/PRED\u003e","video":"6855338880306602208.mp4"}
+{"uid":"11083974536010503696","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the brown packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17497826148104904016.mp4"}
+{"uid":"5613358014159291619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrive 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":"7675822047475276799.mp4"}
+{"uid":"9970931599590948158","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the organizer 2- drop packet into tray 3- drop packet into tray 4- drop spoon into stand 5- drop packet into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13709330345275522767.mp4"}
+{"uid":"10367012987410867081","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- drop packet into tray 3- drop packet into tray 4- drop packet into tray 5- drop packet into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"12137906625041368786.mp4"}
+{"uid":"2969040507265611251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14974539633306444264.mp4"}
+{"uid":"4503997425480893461","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- drop orange into bowl 3- drop packet into tray 4- drop packet into tray 5- drop packet into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10754055167899417644.mp4"}
+{"uid":"91207347398157253","text":"\u003ctask:success:discrete:False\u003e\ndrop the packet into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: drop the packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket Q: immediate next step? \u003cPRED\u003eA: drop the packet into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into tray 2- drop the orange into bowl 3- drop orange into bowl 4- drop packet into tray 5- drop packet into tray\n\u003c/PRED\u003e","video":"17604872562726780604.mp4"}
+{"uid":"15920360025885433998","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray 11- drop packet into tray 12- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray 11- drop packet into tray 12- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e","video":"3813753094111244421.mp4"}
+{"uid":"1067967298088126005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"10138808706719970060.mp4"}
+{"uid":"6384601063303260109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13144865760291265649.mp4"}
+{"uid":"8421888790648401818","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"9939200630380726735.mp4"}
+{"uid":"18217125160314128642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11170916343886452813.mp4"}
+{"uid":"6594775543898952437","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":"17913856396379568985.mp4"}
+{"uid":"6148603280401996658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the blue can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13114434996581257339.mp4"}
+{"uid":"7401618488781874215","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk Q: immediate next step? \u003cPRED\u003eA: put the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: 1- pick up the bottle 2- enter the room 3- put the bottle in the bin 4- open the fridge door 5- pick the bottle out of the fridge 6- exit the room Q: immediate next step? \u003cPRED\u003eA: put the bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: 1- pick up the bottle 2- enter the room 3- put the bottle in the bin 4- open the fridge door 5- pick the bottle out of the fridge 6- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- put the bottle on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bottle on the table\n\u003c/PRED\u003e","video":"3786252036883213348.mp4"}
+{"uid":"16482995461653996644","text":"\u003ctask:success:discrete:True\u003e\ndrop packet into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e","video":"12672731674680220816.mp4"}
+{"uid":"503159482074274911","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into tray 2- drop packet into tray 3- drop packet into tray 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop spoon into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop spoon into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e","video":"233290673826846274.mp4"}
+{"uid":"10279058568461195156","text":"\u003ctask:success:discrete:False\u003e\nput the bottle in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bottle in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bottle in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: 1- pick up the bottle 2- enter the room Q: immediate next step? \u003cPRED\u003eA: put the bottle in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: 1- pick up the bottle 2- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- put the bottle in the bin 2- open the fridge door 3- pick the bottle out of the fridge 4- exit the room 5- put the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk Q: immediate next step? \u003cPRED\u003eA: put the bottle in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bottle in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7026611132250077222.mp4"}
+{"uid":"6336665414210542711","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- drop packet into tray 3- drop packet into tray 4- drop packet into tray 5- drop packet into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"13283532790432086392.mp4"}
+{"uid":"8170725069551925304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the left door of refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12665685023986339850.mp4"}
+{"uid":"16042024599680773769","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- drop packet into tray 3- drop packet into tray 4- drop spoon into stand 5- drop packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"11190621634506621780.mp4"}
+{"uid":"9664937356391306793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"14542316187810153801.mp4"}
+{"uid":"13761788832689390803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack 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":"12309817910273244751.mp4"}
+{"uid":"833002428191777011","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop nut in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16256480455219439442.mp4"}
+{"uid":"16903883465994274813","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the bottle out of the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the bottle out of the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2915844590193341927.mp4"}
+{"uid":"12132747784619255592","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: 1- pick up the bottle 2- enter the room 3- put the bottle in the bin 4- open the fridge door Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bottle out of the fridge 2- exit the room 3- put the bottle on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: 1- pick up the bottle 2- enter the room 3- put the bottle in the bin 4- open the fridge door Q: immediate next step? \u003cPRED\u003eA: pick the bottle out of the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bottle out of the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk Q: immediate next step? \u003cPRED\u003eA: pick the bottle out of the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bottle out of the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bottle out of the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bottle out of the fridge\n\u003c/PRED\u003e","video":"1344670732669471372.mp4"}
+{"uid":"12723520491634951188","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":"3968334849417087814.mp4"}
+{"uid":"2911312552212719909","text":"\u003ctask:success:discrete:False\u003e\ndrop spoon into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop spoon into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop spoon into stand 2- drop packet into tray 3- drop packet into tray 4- drop packet into tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop spoon into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: drop spoon into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop spoon into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: drop spoon into stand\n\u003c/PRED\u003e","video":"690043270747757280.mp4"}
+{"uid":"10195827746414234846","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- drop packet into tray 3- drop packet into tray 4- drop packet into tray 5- drop spoon into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"2752452853907100562.mp4"}
+{"uid":"7038964005342609912","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray 11- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray 11- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e","video":"849921829056373783.mp4"}
+{"uid":"11464821522840616645","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":"9786562597382564022.mp4"}
+{"uid":"8726179902499892300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tissue paper from the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16824577874822689030.mp4"}
+{"uid":"276877034110956552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet into the left side of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10828937566271235139.mp4"}
+{"uid":"1247049159991584908","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":"17944822552948475248.mp4"}
+{"uid":"10720136931563291067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWipe the white object off the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11093364459111255939.mp4"}
+{"uid":"18262223960832665820","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4002147812455411333.mp4"}
+{"uid":"3385935006899991899","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- drop packet into tray 3- drop spoon into stand 4- drop packet into tray 5- drop packet into tray\n\u003c/PRED\u003e","video":"8509018371239366107.mp4"}
+{"uid":"15234756680537634407","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into tray 2- drop spoon into stand 3- drop packet into tray 4- drop packet into tray 5- drop packet into tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e","video":"9170307027151058540.mp4"}
+{"uid":"15010225953356941304","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the holder 2- drop packet into tray 3- drop packet into tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4240778142072167050.mp4"}
+{"uid":"5541963079569936234","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the organizer 2- drop packet into tray 3- drop spoon into stand 4- drop packet into tray 5- drop packet into 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 organizer\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 organizer\n\u003c/PRED\u003e","video":"5383773607408589501.mp4"}
+{"uid":"12279505349587745114","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into bowl 2- drop packet into tray 3- drop packet into tray 4- drop packet into tray 5- drop packet into tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl Q: immediate next step? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4205095531868319633.mp4"}
+{"uid":"14993419772619115130","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16259306769059031948.mp4"}
+{"uid":"4280088267211104726","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the holder 2- drop packet into tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e","video":"2903714469657905524.mp4"}
+{"uid":"5076898494009585650","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8042843750248400674.mp4"}
+{"uid":"3392607355066475567","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet into the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10259817884960302411.mp4"}
+{"uid":"5073203331384174308","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray 11- drop packet into tray 12- Put the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray 11- drop packet into tray 12- Put the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"733483263668624779.mp4"}
+{"uid":"7705120946251182878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tissue paper in recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11337317747840200254.mp4"}
+{"uid":"3991291243058789870","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the brown packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"605790001279643501.mp4"}
+{"uid":"10486813688342688969","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo closer to the right indoor plant. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10133560277731457309.mp4"}
+{"uid":"13040688527213938677","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the strainer on the black machine. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1842172403137140793.mp4"}
+{"uid":"1102532004300245705","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the top indoor plant backwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16858315256704858797.mp4"}
+{"uid":"2080655690829568763","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16335434533559094885.mp4"}
+{"uid":"956971255784958289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the left brown paper cup upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9706596568422118502.mp4"}
+{"uid":"16848994260305230441","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the organizer 2- drop packet into tray 3- drop packet into tray 4- drop packet into tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e","video":"12030836058087722683.mp4"}
+{"uid":"1409586668040991220","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a brown bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17219796976546459407.mp4"}
+{"uid":"5331582218515676400","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8064030621450945139.mp4"}
+{"uid":"14659764995879965360","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- drop the orange into bowl 3- drop orange into bowl 4- drop packet into tray 5- drop packet into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"9532623897534727955.mp4"}
+{"uid":"4387571022038218947","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: 1- pick up the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- put the bottle in the bin 3- open the fridge door 4- pick the bottle out of the fridge 5- exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk. last 20 steps: 1- pick up the bottle Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done drinking hint watermelon can you throw it and get me a new hint watermelon to my desk Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5460341412268905075.mp4"}
+{"uid":"10519550502520826648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fruit in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7750072188973910297.mp4"}
+{"uid":"6318689794678690076","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- drop packet into tray 3- drop packet into tray 4- drop packet into tray 5- drop spoon into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"17263680688788623900.mp4"}
+{"uid":"7523191026734266911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker into draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"554074614502439416.mp4"}
+{"uid":"8797176480772463217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12523599906357373628.mp4"}
+{"uid":"2082533798215297388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pens in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10664476046022192027.mp4"}
+{"uid":"3824153683054674379","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17851956089965788524.mp4"}
+{"uid":"4902015031623262219","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into tray 2- drop packet into tray 3- done\n\u003c/PRED\u003e","video":"8033712826240667191.mp4"}
+{"uid":"10799695692246398122","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the organizer 2- drop the orange into bowl 3- drop orange into bowl 4- drop packet into tray 5- drop packet into 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 organizer\n\u003c/PRED\u003e","video":"13356520098687067159.mp4"}
+{"uid":"2978291474587023034","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- drop spoon into stand 3- drop packet into tray 4- drop packet into tray 5- drop packet into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"900770297065214689.mp4"}
+{"uid":"15492082503679496355","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the holder 2- drop packet into tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray 9- drop spoon into stand 10- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3758650122076682346.mp4"}
+{"uid":"4929038556387687104","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: drop the orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray Q: immediate next step? \u003cPRED\u003eA: drop the orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange into bowl 2- drop orange into bowl 3- drop packet into tray 4- drop packet into tray 5- drop packet into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange into bowl\n\u003c/PRED\u003e","video":"6878547518223176182.mp4"}
+{"uid":"15228382583938457550","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the brown packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16589023748289857986.mp4"}
+{"uid":"13380243045877858382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18104279943555344494.mp4"}
+{"uid":"12063732567566627423","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":"14580757123401572976.mp4"}
+{"uid":"17989101609224652404","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into tray 2- drop packet into tray 3- drop packet into tray 4- drop spoon into stand 5- drop packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4828720845905300748.mp4"}
+{"uid":"18243086457963773931","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5156347183736609900.mp4"}
+{"uid":"912228224699708553","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the organizer 2- drop spoon into stand 3- drop packet into tray 4- drop packet into tray 5- drop packet into 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 organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1505878905220392512.mp4"}
+{"uid":"7909159359663849551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11830325513811581149.mp4"}
+{"uid":"9503988016302301562","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- drop the packet into basket 2- drop the packet into tray 3- drop the orange into bowl 4- drop orange into bowl 5- drop packet into tray 6- drop packet into tray 7- drop packet into tray 8- drop packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the holder 2- drop packet into tray 3- drop packet into tray 4- done\n\u003c/PRED\u003e","video":"17769436252081003171.mp4"}
+{"uid":"7584752330817858051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9245303207340082929.mp4"}
+{"uid":"16724319592556395564","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8194734539472535290.mp4"}
+{"uid":"2764063603512592657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7849720687802559516.mp4"}
+{"uid":"13463339806212712992","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table 10- Place the indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table 10- Place the indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e","video":"5919256585715864332.mp4"}
+{"uid":"7811045644159908911","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: immediate next step? \u003cPRED\u003eA: move the center left plant to the top of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the center left plant to the top of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the center left plant to the top of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove center right plant to the top the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the center left plant to the top of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the center left plant to the top of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move center right plant to the top the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the center left plant to the top of the table 2- make a horizontal line with other plant 3- Place the left indoor plant on the table 4- slightly move to the right 5- Move your arm forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move the center left plant to the top of the table\n\u003c/PRED\u003e","video":"17325216615931970613.mp4"}
+{"uid":"2699598949580333721","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":"9569286668636947257.mp4"}
+{"uid":"10516167130264808354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput one scoop pista in the plastic bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11204178063108481533.mp4"}
+{"uid":"10249776103090949919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the rold gold 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":"2562940208356627064.mp4"}
+{"uid":"8475385412258086142","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":"7271337687351415292.mp4"}
+{"uid":"12342339343407588814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"469059040909558608.mp4"}
+{"uid":"4813444058914173002","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Drop the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: Drop the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the indoor plant on the table 2- make a horizontal line with other plant 3- Place the left indoor plant on the table 4- slightly move to the right 5- Move your arm forward\n\u003c/PRED\u003e","video":"2982122752518918204.mp4"}
+{"uid":"2346596071814542989","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange marker into the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5056203832287186364.mp4"}
+{"uid":"4434459112143762565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green packet into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16862189206374296915.mp4"}
+{"uid":"18418315517606076862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the grapes 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":"10137003059498710549.mp4"}
+{"uid":"5428513774333395206","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right Q: immediate next step? \u003cPRED\u003eA: move to the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move to the bottom indoor plant 2- Place the indoor plant on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the bottom indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move to the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Move your arm forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the bottom indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm forward 2- Pick up the bottom right indoor plant from the table 3- Place the indoor plant on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right Q: immediate next step? \u003cPRED\u003eA: Move your arm forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm forward\n\u003c/PRED\u003e","video":"7419119245113626950.mp4"}
+{"uid":"13204080726494439007","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table 10- Place the indoor plant 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: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table 10- Place the indoor plant 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 indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"212104597680603875.mp4"}
+{"uid":"11556784721286455427","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move backwards 2- Move your arm forward 3- Pick up the bottom right indoor plant from the table 4- Place the indoor plant on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove 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 backwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: Move backwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Move backwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move backwards\n\u003c/PRED\u003e","video":"16525925167258683443.mp4"}
+{"uid":"5959476772751730019","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":"10434017588440698986.mp4"}
+{"uid":"826208433010692550","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2561414526489423527.mp4"}
+{"uid":"8724405949397635999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cherries in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6084151520252553298.mp4"}
+{"uid":"14148098417383100175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the brown object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17312679556650620846.mp4"}
+{"uid":"1583050063694648221","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":"2275653605030438432.mp4"}
+{"uid":"6381803711637764046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6498922465730378921.mp4"}
+{"uid":"7812592772052986494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the Pista Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8086367028129092971.mp4"}
+{"uid":"6922903153932418602","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing Q: immediate next step? \u003cPRED\u003eA: put the sanitizer bottle in the racks\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the sanitizer bottle in the racks 2- close the door 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack Q: immediate next step? \u003cPRED\u003eA: put the sanitizer bottle in the racks\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sanitizer bottle in the racks\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sanitizer bottle in the racks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sanitizer bottle in the racks\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sanitizer bottle in the racks Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15046624052083424438.mp4"}
+{"uid":"5639643949668102014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15678585144972832647.mp4"}
+{"uid":"5048401521353985581","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table Q: immediate next step? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the indoor plant on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 indoor plant on the table\n\u003c/PRED\u003e","video":"5318447647250325806.mp4"}
+{"uid":"8143633424130805980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7848777779991079522.mp4"}
+{"uid":"255235985981817961","text":"\u003ctask:success:discrete:True\u003e\nslightly move to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move to the right\n\u003c/PRED\u003e","video":"4823371240460618609.mp4"}
+{"uid":"2911164088573141476","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":"5407314092721206898.mp4"}
+{"uid":"7503143095798399066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15642496792218048022.mp4"}
+{"uid":"449734153250041586","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1472579626933428459.mp4"}
+{"uid":"4530014390037261995","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move away from the right side indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the right side indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table Q: immediate next step? \u003cPRED\u003eA: move away from the right side indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the right side indoor plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the right side indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the right side indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the right side indoor plant 2- done\n\u003c/PRED\u003e","video":"4604765914815132165.mp4"}
+{"uid":"18324158987177710687","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move towards the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the bottom indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the bottom indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the bottom indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 bottom indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the bottom indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Move towards the bottom indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the bottom indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the bottom indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move towards the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the bottom indoor plant on the table 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant\n\u003c/PRED\u003e","video":"9613736169669507788.mp4"}
+{"uid":"7963555709559065141","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- upright the plaint Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- upright the plaint Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nupright the plaint Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: upright the plaint\n\u003c/PRED\u003e","video":"5414432661897031254.mp4"}
+{"uid":"15193704699673783831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1796563836945563603.mp4"}
+{"uid":"8998226496508374010","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: put the white box into the locker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white box into the locker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- put the white box into the locker 2- Place the bottle in the cupboard 3- close the door 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white box into the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white box into the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white box into the locker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing Q: immediate next step? \u003cPRED\u003eA: put the white box into the locker\n\u003c/PRED\u003e","video":"7584374001896105102.mp4"}
+{"uid":"11102697876872402464","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: make a horizontal line with other plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmake a horizontal line with other plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6528530301213970041.mp4"}
+{"uid":"12502692676667354714","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack 3- Place the bottle in the cupboard 4- close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack 3- Place the bottle in the cupboard 4- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1883894649791263713.mp4"}
+{"uid":"15870170199083986849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17122118044713941104.mp4"}
+{"uid":"3443609191782016236","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: immediate next step? \u003cPRED\u003eA: Put the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Put the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the indoor plant on the table 2- Place the left indoor plant on the table 3- slightly move to the right 4- Move your arm forward 5- Pick up the bottom right indoor plant from the table\n\u003c/PRED\u003e","video":"10306921532301117559.mp4"}
+{"uid":"3050504373075158737","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the white door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the white door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the white door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing Q: immediate next step? \u003cPRED\u003eA: pull the white door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the white door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pull the white door 2- put the box in the rack 3- Place the bottle in the cupboard 4- close the door 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pull the white door\n\u003c/PRED\u003e","video":"11011619416042099970.mp4"}
+{"uid":"7231827267612698988","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: slightly move to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move to the right 2- Move your arm forward 3- Pick up the bottom right indoor plant from the table 4- Place the indoor plant on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move to the right\n\u003c/PRED\u003e","video":"13923624517673513376.mp4"}
+{"uid":"8268756186707804945","text":"\u003ctask:success:discrete:True\u003e\nput the box in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the box in the rack\n\u003c/PRED\u003e","video":"4217362210966016653.mp4"}
+{"uid":"13568252469002395184","text":"\u003ctask:success:discrete:True\u003e\nPlace the left indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\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 left indoor plant on the table\n\u003c/PRED\u003e","video":"14039784417790619885.mp4"}
+{"uid":"3281105277345368853","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- pick the bottom indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- pick the bottom indoor plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the bottom indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the bottom indoor plant\n\u003c/PRED\u003e","video":"1056007454432575716.mp4"}
+{"uid":"6664309682421170257","text":"\u003ctask:success:discrete:False\u003e\nPlace the bottle in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the bottle in the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing Q: immediate next step? \u003cPRED\u003eA: Place the bottle in the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack Q: immediate next step? \u003cPRED\u003eA: Place the bottle in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the bottle in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the bottle in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Place the bottle in the cupboard 2- close the door 3- done\n\u003c/PRED\u003e","video":"13982475526855486864.mp4"}
+{"uid":"14872998091084622728","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the right plant to the right side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the right plant to the right side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5558339328361184001.mp4"}
+{"uid":"5791580604930150227","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the bottom indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 bottom indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the bottom indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward Q: immediate next step? \u003cPRED\u003eA: Pick the bottom indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the bottom indoor plant on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the bottom indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Pick the bottom indoor plant on the table\n\u003c/PRED\u003e","video":"2699525153916580144.mp4"}
+{"uid":"1024228793343015691","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Pick the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the bottom indoor plant 2- move center right plant to the top the table 3- move the center left plant to the top of the table 4- make a horizontal line with other plant 5- Place the left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the bottom indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the table 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the bottom indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8487713934588299846.mp4"}
+{"uid":"14096138873519587327","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack 3- Place the bottle in the cupboard Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack 3- Place the bottle in the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"17688618336582686415.mp4"}
+{"uid":"1244107378085120551","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the second left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the second left indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: pick the second left indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the second left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: immediate next step? \u003cPRED\u003eA: pick the second left indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the second left indoor plant 2- make a horizontal line with other plant 3- Place the left indoor plant on the table 4- slightly move to the right 5- Move your arm forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the second left indoor plant\n\u003c/PRED\u003e","video":"18231928006382123434.mp4"}
+{"uid":"11893237331401598956","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15275206813256129566.mp4"}
+{"uid":"2104336161089057835","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the left side indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: pick up the left side indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the left side indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the left side indoor plant 2- Place the left indoor plant on the table 3- slightly move to the right 4- Move your arm forward 5- Pick up the bottom right indoor plant from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the left side indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the left side indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: immediate next step? \u003cPRED\u003eA: pick up the left side indoor plant\n\u003c/PRED\u003e","video":"11824223635742367760.mp4"}
+{"uid":"15887215069519233022","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table 2- Place the left indoor plant on the table 3- slightly move to the right 4- Move your arm forward 5- Pick up the bottom right indoor plant from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e","video":"4514327971120813415.mp4"}
+{"uid":"3050437578591836401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3785924695689896475.mp4"}
+{"uid":"14436555482992863508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue plate on the baby pink plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5541239908871788464.mp4"}
+{"uid":"12371155779156335576","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- pick up the bottom indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the bottom indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- pick up the bottom indoor plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the bottom indoor plant\n\u003c/PRED\u003e","video":"15052268601072730734.mp4"}
+{"uid":"13768230733552722244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14928302930480806223.mp4"}
+{"uid":"7725887494034140760","text":"\u003ctask:success:discrete:False\u003e\nput the white bottle into the loker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white bottle into the loker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing Q: immediate next step? \u003cPRED\u003eA: put the white bottle into the loker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white bottle into the loker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white bottle into the loker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack Q: immediate next step? \u003cPRED\u003eA: put the white bottle into the loker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the white bottle into the loker 2- close the door 3- done\n\u003c/PRED\u003e","video":"7844704468134176724.mp4"}
+{"uid":"15877368565267004514","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: move backwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move backwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move backwards 2- Move your arm forward 3- Pick up the bottom right indoor plant from the table 4- Place the indoor plant on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move backwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move backwards\n\u003c/PRED\u003e","video":"6905881478413516192.mp4"}
+{"uid":"3454381304044305218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4742896938146107093.mp4"}
+{"uid":"5396556765146615921","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward Q: immediate next step? \u003cPRED\u003eA: upright the plaint\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nupright the plaint Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: upright the plaint\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: upright the plaint\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward Q: next 5 steps? \u003cPRED\u003eA: 1- upright the plaint 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nupright the plaint Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: upright the plaint\n\u003c/PRED\u003e","video":"9458019375793630577.mp4"}
+{"uid":"3046795899629119198","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the indoor plant on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table Q: immediate next step? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e","video":"13732109185302516686.mp4"}
+{"uid":"12540028563734370682","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: pick the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bottom indoor plant 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward Q: immediate next step? \u003cPRED\u003eA: pick the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bottom indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bottom indoor plant\n\u003c/PRED\u003e\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\u003ctask:success:discrete:False\u003e\npick the bottom indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5406500304301823846.mp4"}
+{"uid":"4152522520892887287","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the yellow indoor plant forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the yellow indoor plant forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1540088221723945406.mp4"}
+{"uid":"17986976177873143472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3940396381869260239.mp4"}
+{"uid":"6772378498065909703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet into the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14760258978407336855.mp4"}
+{"uid":"639534956955404501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11618521001855167453.mp4"}
+{"uid":"4030176032395093332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11993078785636275738.mp4"}
+{"uid":"9188649599858034567","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1467850011090180030.mp4"}
+{"uid":"14690746829056516824","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the cupboard 2- put the box in the rack 3- Place the bottle in the cupboard 4- close the door 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing Q: immediate next step? \u003cPRED\u003eA: Open the cupboard\n\u003c/PRED\u003e","video":"11149119122551914836.mp4"}
+{"uid":"2328247606072914193","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white box into the locker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white box into the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17684119798892110208.mp4"}
+{"uid":"8445882691521212753","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":"2787176664056450462.mp4"}
+{"uid":"11306509712300264448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet on tha table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3157647438665930038.mp4"}
+{"uid":"457332264072149832","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"16244488271179602975.mp4"}
+{"uid":"11977211956733201066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7294741035843328159.mp4"}
+{"uid":"17343872197816612428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9713297889819991693.mp4"}
+{"uid":"16297357716819362665","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the second left indoor plant on the table 2- Place the left indoor plant on the table 3- slightly move to the right 4- Move your arm forward 5- Pick up the bottom right indoor plant from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Place the second left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the second left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the second left indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 second left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: immediate next step? \u003cPRED\u003eA: Place the second left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the second left indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3689436385847193340.mp4"}
+{"uid":"9419927560393241519","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17584287566911799316.mp4"}
+{"uid":"5108226481168167557","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the left side red indoor plant from the table 2- make a horizontal line with other plant 3- Place the left indoor plant on the table 4- slightly move to the right 5- Move your arm forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the left side red indoor plant from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the left side red indoor plant 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: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: immediate next step? \u003cPRED\u003eA: Pick the left side red indoor plant from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the left side red indoor plant from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Pick the left side red indoor plant from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the left side red indoor plant 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":"14553253801378182985.mp4"}
+{"uid":"17915690283817854766","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing Q: immediate next step? \u003cPRED\u003eA: close the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack 3- Place the bottle in the cupboard Q: immediate next step? \u003cPRED\u003eA: close the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack 3- Place the bottle in the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- close the cupboard 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cupboard\n\u003c/PRED\u003e","video":"1256164978374451287.mp4"}
+{"uid":"9146470327781195951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the holder in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9184237755470523745.mp4"}
+{"uid":"16950370096946951634","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white chocolate 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":"14226155885199509799.mp4"}
+{"uid":"16262589126017069804","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move the right plant to the right side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the right plant to the right side of the table 2- move the center left plant to the top of the table 3- make a horizontal line with other plant 4- Place the left indoor plant on the table 5- slightly move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the right plant to the right side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the right plant to the right side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the right plant to the right side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the right plant to the right side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the right plant to the right side of the table\n\u003c/PRED\u003e","video":"11442032758812720275.mp4"}
+{"uid":"5280448271682410275","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table 2- move the center left plant to the top of the table 3- make a horizontal line with other plant 4- Place the left indoor plant on the table 5- slightly move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e","video":"14073696272921796072.mp4"}
+{"uid":"14511100057392252706","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1930302508596084567.mp4"}
+{"uid":"6131769114901910701","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sanitizer bottle in the racks\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sanitizer bottle in the racks Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17818228759529967805.mp4"}
+{"uid":"2992261622548276457","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack 3- Place the bottle in the cupboard Q: immediate next step? \u003cPRED\u003eA: push the white door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack 3- Place the bottle in the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- push the white door 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the white door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing Q: immediate next step? \u003cPRED\u003eA: push the white door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the white door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the white door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the white door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3310193793199014165.mp4"}
+{"uid":"4769307915523703377","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16019170376553642094.mp4"}
+{"uid":"9802752161379455435","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move center right plant to the top the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move center right plant to the top the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move center right plant to the top the table 2- move the center left plant to the top of the table 3- make a horizontal line with other plant 4- Place the left indoor plant on the table 5- slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove center right plant to the top the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 center right plant to the top the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: move center right plant to the top the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move center right plant to the top the table\n\u003c/PRED\u003e","video":"17698671373180123974.mp4"}
+{"uid":"5483467395278803487","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the box in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the box in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the box in the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- put the box in the rack 2- Place the bottle in the cupboard 3- close the door 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the box in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing Q: immediate next step? \u003cPRED\u003eA: put the box in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: put the box in the rack\n\u003c/PRED\u003e","video":"8462513521497672945.mp4"}
+{"uid":"18083321572356017633","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm forward 2- Pick up the bottom right indoor plant from the table 3- Place the indoor plant on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right Q: immediate next step? \u003cPRED\u003eA: move your arm forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move your arm forward\n\u003c/PRED\u003e","video":"2694252765697641248.mp4"}
+{"uid":"668334903070466552","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- Place the box in the cupboard 2- Place the bottle in the cupboard 3- close the door 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the box in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the box in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the box in the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: Place the box in the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing Q: immediate next step? \u003cPRED\u003eA: Place the box in the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the box in the cupboard\n\u003c/PRED\u003e","video":"14809120571401687209.mp4"}
+{"uid":"13930714515499446505","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the second right indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Pick the second right indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the second right indoor plant on the table 2- move the center left plant to the top of the table 3- make a horizontal line with other plant 4- Place the left indoor plant on the table 5- slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the second right indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 second right indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: Pick the second right indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the second right indoor plant on the table\n\u003c/PRED\u003e","video":"18314512775114862441.mp4"}
+{"uid":"2398699329512215667","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: immediate next step? \u003cPRED\u003eA: Pick the left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the left indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the left indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the left indoor plant on the table 2- slightly move to the right 3- Move your arm forward 4- Pick up the bottom right indoor plant from the table 5- Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Pick the left indoor plant on the table\n\u003c/PRED\u003e","video":"15161959739874255432.mp4"}
+{"uid":"7175003437869273351","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4775600177845978876.mp4"}
+{"uid":"5162322795092098549","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: immediate next step? \u003cPRED\u003eA: pick the left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the left indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the left indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: pick the left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the left indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the left indoor plant 2- Place the left indoor plant on the table 3- slightly move to the right 4- Move your arm forward 5- Pick up the bottom right indoor plant from the table\n\u003c/PRED\u003e","video":"18294498053597792787.mp4"}
+{"uid":"8500171228631367837","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the right most indoor plant from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Lift the right most indoor plant from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the right most indoor plant from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the right most indoor plant from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the right most indoor plant 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: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: Lift the right most indoor plant from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the right most indoor plant from the table 2- move the center left plant to the top of the table 3- make a horizontal line with other plant 4- Place the left indoor plant on the table 5- slightly move to the right\n\u003c/PRED\u003e","video":"3732295049764229322.mp4"}
+{"uid":"8704697129923392832","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":"5746765632188362936.mp4"}
+{"uid":"8501829360469265843","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown colour 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":"7729081927375546189.mp4"}
+{"uid":"10901654687855175282","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottom indoor plant 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 bottom indoor plant from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottom indoor plant 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 bottom indoor plant from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottom indoor plant from the table 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom indoor plant from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom indoor plant from the table\n\u003c/PRED\u003e","video":"14073870446983703903.mp4"}
+{"uid":"5550559219473534238","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table 2- slightly move to the right 3- Move your arm forward 4- Pick up the bottom right indoor plant from the table 5- Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e","video":"3753154749733884090.mp4"}
+{"uid":"7322710710033230123","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the bottom indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick the bottom indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the bottom indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick the bottom indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9646450908484371005.mp4"}
+{"uid":"15457148824833385979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13991508044113601708.mp4"}
+{"uid":"235140369377943963","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the scissors Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7859792642686914979.mp4"}
+{"uid":"10779555388336753567","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottom right indoor plant from the table 2- Place the indoor plant on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom right indoor plant from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottom right indoor plant from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottom right indoor plant from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottom right indoor plant from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottom right indoor plant from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom right indoor plant from the table\n\u003c/PRED\u003e","video":"17706468914913838710.mp4"}
+{"uid":"9226813236868105025","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the second right indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the second right indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4320107643845632700.mp4"}
+{"uid":"8171164067244909231","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: pick the second right indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the second right indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the second right indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: pick the second right indoor plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the second right indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the second right indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the second right indoor plant 2- move the center left plant to the top of the table 3- make a horizontal line with other plant 4- Place the left indoor plant on the table 5- slightly move to the right\n\u003c/PRED\u003e","video":"6908013272816687357.mp4"}
+{"uid":"6369071076225990538","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2336028851231499791.mp4"}
+{"uid":"7609263737649271991","text":"\u003ctask:success:discrete:True\u003e\nPick the bottom indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the bottom indoor plant\n\u003c/PRED\u003e","video":"5514634736815507317.mp4"}
+{"uid":"8068079019627700798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chopstick 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":"14522543754167564835.mp4"}
+{"uid":"12732730971142234801","text":"\u003ctask:success:discrete:True\u003e\nplace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\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 indoor plant on the table\n\u003c/PRED\u003e","video":"13247721957899914492.mp4"}
+{"uid":"11369518488124134670","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward 9- Pick up the bottom right indoor plant from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e","video":"278142758904662668.mp4"}
+{"uid":"10541607273010589097","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":"11481588045099371231.mp4"}
+{"uid":"13078494307450245651","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: move the yellow indoor plant forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: immediate next step? \u003cPRED\u003eA: move the yellow indoor plant forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the yellow indoor plant forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the yellow indoor plant forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the yellow indoor plant forward 2- Place the left indoor plant on the table 3- slightly move to the right 4- Move your arm forward 5- Pick up the bottom right indoor plant from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the yellow indoor plant forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the yellow indoor plant forward\n\u003c/PRED\u003e","video":"2115701279479705396.mp4"}
+{"uid":"4759455133758806166","text":"\u003ctask:success:discrete:True\u003e\nPick up the bottom right indoor plant from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the bottom right indoor plant from the table\n\u003c/PRED\u003e","video":"14861690687568174799.mp4"}
+{"uid":"1169768045747405416","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Place the left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant Q: next 5 steps? \u003cPRED\u003eA: 1- Place the left indoor plant on the table 2- slightly move to the right 3- Move your arm forward 4- Pick up the bottom right indoor plant from the table 5- Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the left indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the left indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant Q: immediate next step? \u003cPRED\u003eA: Place the left indoor plant on the table\n\u003c/PRED\u003e","video":"13819522033750442689.mp4"}
+{"uid":"7871761169293572179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6747554938330418046.mp4"}
+{"uid":"4115401750120887534","text":"\u003ctask:success:discrete:False\u003e\nPlace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the indoor plant on the table 2- move center right plant to the top the table 3- move the center left plant to the top of the table 4- make a horizontal line with other plant 5- Place the left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15937657292925885988.mp4"}
+{"uid":"3968955521388835570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown sugar pouch in the bottom left partition of the kit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9790613138526290454.mp4"}
+{"uid":"2575768480938972277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4441866663576815915.mp4"}
+{"uid":"2071283890602453710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2770720033149540248.mp4"}
+{"uid":"16209106108065249576","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the center left plant to the top of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the center left plant to the top of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14192957971709187749.mp4"}
+{"uid":"7522568346792834367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the oven Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12734199174366422084.mp4"}
+{"uid":"3254155970085052217","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table 2- move the center left plant to the top of the table 3- make a horizontal line with other plant 4- Place the left indoor plant on the table 5- slightly move to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e","video":"11381027439676307753.mp4"}
+{"uid":"10571309930514508561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3702960513258944313.mp4"}
+{"uid":"10258896888026931606","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bottom indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: pick the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bottom indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2760620705471340497.mp4"}
+{"uid":"2602490202114407984","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the second left indoor plant on the table 2- make a horizontal line with other plant 3- Place the left indoor plant on the table 4- slightly move to the right 5- Move your arm forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the second left indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table Q: immediate next step? \u003cPRED\u003eA: Pick the second left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Pick the second left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the second left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the second left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the second left indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18151911289934978928.mp4"}
+{"uid":"8187803588091675586","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":"485979763451463265.mp4"}
+{"uid":"14905958969614625133","text":"\u003ctask:success:discrete:True\u003e\nplace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\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 indoor plant on the table\n\u003c/PRED\u003e","video":"3521473425473051485.mp4"}
+{"uid":"7381902798236606908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the red cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14381209837791337028.mp4"}
+{"uid":"1710597890250918319","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9771828830219863132.mp4"}
+{"uid":"498892024981452079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14194846130845878915.mp4"}
+{"uid":"7511305893036567438","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow ball in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11356119385038835809.mp4"}
+{"uid":"8130640501017040388","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the left most indoor plant from the table 2- Place the left indoor plant on the table 3- slightly move to the right 4- Move your arm forward 5- Pick up the bottom right indoor plant from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Lift the left most indoor plant from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the left most indoor plant from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the left most indoor plant from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the left most indoor plant 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: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: immediate next step? \u003cPRED\u003eA: Lift the left most indoor plant from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the left most indoor plant from the table\n\u003c/PRED\u003e","video":"16550649716379088520.mp4"}
+{"uid":"12716189229199122025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove down to the blue box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7636501759615992393.mp4"}
+{"uid":"1373972583923678615","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the indoor plant on the table 2- slightly move to the right 3- Move your arm forward 4- Pick up the bottom right indoor plant from the table 5- Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: immediate next step? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e","video":"10979725119031929556.mp4"}
+{"uid":"5075322279052049496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the plate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18167093401052676196.mp4"}
+{"uid":"14119100615070365370","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table 2- make a horizontal line with other plant 3- Place the left indoor plant on the table 4- slightly move to the right 5- Move your arm forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e","video":"4613838288131572789.mp4"}
+{"uid":"3459535035726630967","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: next 5 steps? \u003cPRED\u003eA: 1- make a horizontal line with other plant 2- Place the left indoor plant on the table 3- slightly move to the right 4- Move your arm forward 5- Pick up the bottom right indoor plant from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: make a horizontal line with other plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: make a horizontal line with other plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: make a horizontal line with other plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table Q: immediate next step? \u003cPRED\u003eA: make a horizontal line with other plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmake a horizontal line with other plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmake a horizontal line with other plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"972989938129935369.mp4"}
+{"uid":"7380626972473824323","text":"\u003ctask:success:discrete:True\u003e\nPlace the bottle in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the bottle in the cupboard\n\u003c/PRED\u003e","video":"16835098328894210830.mp4"}
+{"uid":"8837875850460266481","text":"\u003ctask:success:discrete:True\u003e\nPlace the box in the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the box in the cupboard\n\u003c/PRED\u003e","video":"6783709184151800891.mp4"}
+{"uid":"15254076714073413305","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack 3- Place the bottle in the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- put the tong on the bench 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tong on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing. last 20 steps: 1- open the door 2- put the box in the rack 3- Place the bottle in the cupboard Q: immediate next step? \u003cPRED\u003eA: put the tong on the bench\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tong on the bench\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tong on the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tong on the bench\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the eyewash and eye dressing Q: immediate next step? \u003cPRED\u003eA: put the tong on the bench\n\u003c/PRED\u003e","video":"11632527600494247732.mp4"}
+{"uid":"9369804142083813873","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: pick up the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bottom indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the bottom indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward Q: immediate next step? \u003cPRED\u003eA: pick up the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant 6- Place the left indoor plant on the table 7- slightly move to the right 8- Move your arm forward Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottom indoor plant 2- done\n\u003c/PRED\u003e","video":"2395225571361981314.mp4"}
+{"uid":"14254882941882950032","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table 2- make a horizontal line with other plant 3- Place the left indoor plant on the table 4- slightly move to the right 5- Move your arm forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: immediate next step? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant 2- Place the indoor plant on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the indoor plant on the table 2- make a horizontal line with other plant 3- Place the left indoor plant on the table 4- slightly move to the right 5- Move your arm forward\n\u003c/PRED\u003e","video":"14830044280966587340.mp4"}
+{"uid":"8748220886205960785","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: pick up the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bottom indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bottom indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the bottom indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottom indoor plant 2- Place the indoor plant on the table 3- move center right plant to the top the table 4- move the center left plant to the top of the table 5- make a horizontal line with other plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bottom indoor plant\n\u003c/PRED\u003e","video":"13572545133812880730.mp4"}
+{"uid":"14855646028938912916","text":"\u003ctask:success:discrete:True\u003e\nPlace the second left indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\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 second left indoor plant on the table\n\u003c/PRED\u003e","video":"14851857018545479132.mp4"}
+{"uid":"8246376795257767716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12198526548792092831.mp4"}
+{"uid":"9937734020417663120","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 plant on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant Q: immediate next step? \u003cPRED\u003eA: place the plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant. last 20 steps: 1- Pick the bottom indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- place the plant on the table 2- move the center left plant to the top of the table 3- make a horizontal line with other plant 4- Place the left indoor plant on the table 5- slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arrange the little plants on my desk left to right from shortest to tallest plant Q: immediate next step? \u003cPRED\u003eA: place the plant on the table\n\u003c/PRED\u003e","video":"14760421839770632863.mp4"}
+{"uid":"16598905787977004814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the nut 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":"5780530836346433629.mp4"}
+{"uid":"15842931593630154357","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nadd a pista into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: add a pista into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: add a pista into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadd a pista into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: add a pista into the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup Q: immediate next step? \u003cPRED\u003eA: add a pista into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- add a pista into the paper cup 2- pick a pista 3- drop the pista in the paper cup 4- pick the pista 5- drop the pista in the paper cup\n\u003c/PRED\u003e","video":"11349600052746835318.mp4"}
+{"uid":"15297461943630199818","text":"\u003ctask:success:discrete:True\u003e\nmove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e","video":"8203596951399484892.mp4"}
+{"uid":"10950223218267369219","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table Q: immediate next step? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista in the paper cup 2- Pick up the right pistachio from the table 3- Place the pistachio into the paper cup 4- pick a pista 5- drop the pista in the paper cup\n\u003c/PRED\u003e","video":"17212528537549139434.mp4"}
+{"uid":"11458438760137026442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the tissue packet cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4121644457774436883.mp4"}
+{"uid":"750449089850868788","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pistachio into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pistachio into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Place the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table Q: immediate next step? \u003cPRED\u003eA: Place the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pistachio into the paper cup 2- pick a pista 3- drop the pista in the paper cup 4- pick the pista 5- drop the pista in the paper cup\n\u003c/PRED\u003e","video":"1804857571764539125.mp4"}
+{"uid":"9281378147126534856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10352763483944220305.mp4"}
+{"uid":"10380218549240262856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10405480624987047592.mp4"}
+{"uid":"13903816236898850437","text":"\u003ctask:success:discrete:True\u003e\nMove the paper cup close to the pistachio 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: Move the paper cup close to the pistachio jar\n\u003c/PRED\u003e","video":"10105737640968979465.mp4"}
+{"uid":"7558181868487342943","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachio into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pistachio into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Put the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table Q: immediate next step? \u003cPRED\u003eA: Put the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachio into the paper cup 2- Pick up the right pistachio from the table 3- Place the pistachio into the paper cup 4- pick a pista 5- drop the pista in the paper cup\n\u003c/PRED\u003e","video":"3883714265131708402.mp4"}
+{"uid":"2994844492056127803","text":"\u003ctask:success:discrete:False\u003e\nclose the glass jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl 6- Put the scooper in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- close the glass jar lid 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl 6- Put the scooper in the holder Q: immediate next step? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the glass jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11879045205563591498.mp4"}
+{"uid":"2797994477740198942","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachios in the bowl 2- Put the scooper in the holder 3- close the glass jar lid 4- done\n\u003c/PRED\u003e","video":"16009600053587118095.mp4"}
+{"uid":"14006734725043301899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"584378229530606228.mp4"}
+{"uid":"6700412821126900270","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick a pista Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a pista Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup Q: immediate next step? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick a pista 2- pick the pista 3- drop the pista in the paper cup 4- done\n\u003c/PRED\u003e","video":"10604339683355149003.mp4"}
+{"uid":"8720484119931912956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14633131540062864659.mp4"}
+{"uid":"2421804433842367686","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right 2- open the glass jar lid Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachios in the bowl 2- Put the pistachios in the bowl 3- Put the pistachios in the bowl 4- Put the scooper in the holder 5- close the glass jar lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pistachios in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right 2- open the glass jar lid Q: immediate next step? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e","video":"4977020740264969967.mp4"}
+{"uid":"10204205294230377637","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":"11020936099167924907.mp4"}
+{"uid":"4910473002824606574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10373047224695890865.mp4"}
+{"uid":"8287508022939045921","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17383793108352909100.mp4"}
+{"uid":"15118171274591141789","text":"\u003ctask:success:discrete:True\u003e\npick a pista Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e","video":"15474267569660396423.mp4"}
+{"uid":"1038746928653215649","text":"\u003ctask:success:discrete:True\u003e\nupright  the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: upright  the paper cup\n\u003c/PRED\u003e","video":"15679013238611662415.mp4"}
+{"uid":"12524431320509662091","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm upwards 2- Pick a pistachio from the table 3- Drop the pistachio into the paper cup 4- Lift a pistachio from the table 5- Release the pistachio into the paper cup\n\u003c/PRED\u003e","video":"1583814528257912700.mp4"}
+{"uid":"1079796234076284701","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nLift a pistachio from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift a pistachio from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift a pistachio from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift a pistachio from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Lift a pistachio from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup Q: immediate next step? \u003cPRED\u003eA: Lift a pistachio from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Lift a pistachio from the table 2- Release the pistachio into the paper cup 3- Move to the pistachios on the table 4- Move to the top pistachio on the table 5- Pick up the top pistachio from the table\n\u003c/PRED\u003e","video":"13013342445914659863.mp4"}
+{"uid":"17747108238638295576","text":"\u003ctask:success:discrete:True\u003e\nadd a pista into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: add a pista into the paper cup\n\u003c/PRED\u003e","video":"8603362601187627251.mp4"}
+{"uid":"6068789336295172924","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: move your arm close to the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm close to the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the paper cup 2- Move the paper cup close to the pistachio jar 3- Pick a pistachio from the table 4- Drop the pistachio into the paper cup 5- Lift a pistachio from the table\n\u003c/PRED\u003e","video":"15052715116528377078.mp4"}
+{"uid":"5810529912486039161","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Move towards the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup\n\u003c/PRED\u003e","video":"14044604570661006577.mp4"}
+{"uid":"15098131933800887253","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right Q: immediate next step? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the glass jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the glass jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right Q: next 5 steps? \u003cPRED\u003eA: 1- open the glass jar lid 2- Put the pistachios in the bowl 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the scooper in the holder\n\u003c/PRED\u003e","video":"4293197990770210861.mp4"}
+{"uid":"6867931404419032097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the black book 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":"8118263172754948525.mp4"}
+{"uid":"8304523748138390088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the lids Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13555970844087118279.mp4"}
+{"uid":"8766271788418774671","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":"11748767229115065673.mp4"}
+{"uid":"7278320503779182274","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl 6- Put the scooper in the holder 7- close the glass jar lid Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the glass jar lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the glass jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl 6- Put the scooper in the holder 7- close the glass jar lid Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4209201118347228836.mp4"}
+{"uid":"9388184855948969797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16403245008825263503.mp4"}
+{"uid":"6480325809978813756","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pistachios in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2951467204991152555.mp4"}
+{"uid":"7667279080930341815","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scooper in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scooper in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: Put the scooper in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the scooper in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the scooper in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scooper in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scooper in the holder 2- close the glass jar lid 3- done\n\u003c/PRED\u003e","video":"10246947440644268929.mp4"}
+{"uid":"2060411364959308622","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup Q: immediate next step? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista in the paper cup 2- drop the pista in the paper cup 3- pick the pista 4- drop the pista in the paper cup 5- done\n\u003c/PRED\u003e","video":"12652135769802069093.mp4"}
+{"uid":"13581039347395643155","text":"\u003ctask:success:discrete:True\u003e\nopen the glass jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e","video":"16059509527078372876.mp4"}
+{"uid":"9401890047018331431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16016420858144888058.mp4"}
+{"uid":"7669358685116817890","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the pistachio into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the pistachio into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Release the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup 14- pick a pista 15- drop the pista in the paper cup 16- pick the pista Q: immediate next step? \u003cPRED\u003eA: Release the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup 14- pick a pista 15- drop the pista in the paper cup 16- pick the pista Q: next 5 steps? \u003cPRED\u003eA: 1- Release the pistachio into the paper cup 2- done\n\u003c/PRED\u003e","video":"12440738555451950468.mp4"}
+{"uid":"8397888685095649033","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table Q: immediate next step? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pista in the paper cup 2- Move to the top pistachio on the table 3- Pick up the top pistachio from the table 4- Put the pistachio into the paper cup 5- Pick up the right pistachio from the table\n\u003c/PRED\u003e","video":"16865972287488766177.mp4"}
+{"uid":"9654356707103946195","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottom pistachio 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 bottom pistachio 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 bottom pistachio from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottom pistachio from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom pistachio from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom pistachio from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottom pistachio from the table 2- drop the pista in the paper cup 3- pick the pista 4- drop the pista in the paper cup 5- done\n\u003c/PRED\u003e","video":"1842130957879061233.mp4"}
+{"uid":"8730425302900505235","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pistachio into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pistachio into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Drop the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table Q: immediate next step? \u003cPRED\u003eA: Drop the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pistachio into the paper cup 2- Lift a pistachio from the table 3- Release the pistachio into the paper cup 4- Move to the pistachios on the table 5- Move to the top pistachio on the table\n\u003c/PRED\u003e","video":"6704501032441985159.mp4"}
+{"uid":"7563500012212784393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace two laffy taffy candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"63973932391717681.mp4"}
+{"uid":"4211564513654086837","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup Q: immediate next step? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista in the paper cup 2- pick the pista 3- drop the pista in the paper cup 4- done\n\u003c/PRED\u003e","video":"12670017125644390889.mp4"}
+{"uid":"13305652760027462336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4240747402435025419.mp4"}
+{"uid":"1108795182501075356","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":"2743466343817500623.mp4"}
+{"uid":"17533930543296001788","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13569967978753895241.mp4"}
+{"uid":"9040694443850943092","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nupright  the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: upright  the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: upright  the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nupright  the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: upright  the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup Q: immediate next step? \u003cPRED\u003eA: upright  the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- upright  the paper cup 2- Move the paper cup close to the pistachio jar 3- Pick a pistachio from the table 4- Drop the pistachio into the paper cup 5- Lift a pistachio from the table\n\u003c/PRED\u003e","video":"11995382711296554962.mp4"}
+{"uid":"8412050998981493143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange on the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9771497113037804719.mp4"}
+{"uid":"7932421914527630117","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15024253831887784560.mp4"}
+{"uid":"9201372760084856397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11678867098570108615.mp4"}
+{"uid":"5601362537304940844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7378405991881749235.mp4"}
+{"uid":"3744051516920557817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the pistachios on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the pistachios on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the pistachios on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the pistachios on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Move to the pistachios on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup Q: immediate next step? \u003cPRED\u003eA: Move to the pistachios on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the pistachios on the table 2- Move to the top pistachio on the table 3- Pick up the top pistachio from the table 4- Put the pistachio into the paper cup 5- Pick up the right pistachio from the table\n\u003c/PRED\u003e","video":"17997567719113400121.mp4"}
+{"uid":"6600291986899108131","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pistachio into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pistachio into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Drop the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup 14- pick a pista Q: immediate next step? \u003cPRED\u003eA: Drop the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup 14- pick a pista Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pistachio into the paper cup 2- pick the pista 3- drop the pista in the paper cup 4- done\n\u003c/PRED\u003e","video":"15179727573769623593.mp4"}
+{"uid":"17868553988867511019","text":"\u003ctask:success:discrete:True\u003e\nplace the paper cup upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the paper cup upright on the table\n\u003c/PRED\u003e","video":"6473989815078623740.mp4"}
+{"uid":"2670280470153195757","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16647357549231436962.mp4"}
+{"uid":"4081209058063542187","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table Q: immediate next step? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pista in the paper cup 2- Place the pistachio into the paper cup 3- pick a pista 4- drop the pista in the paper cup 5- pick the pista\n\u003c/PRED\u003e","video":"13079295956826371936.mp4"}
+{"uid":"17351714093140003634","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup Q: immediate next step? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pista in the paper cup 2- drop the pista in the paper cup 3- done\n\u003c/PRED\u003e","video":"5194641290082778031.mp4"}
+{"uid":"12431018593879997408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace plastic knives in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12210032711923893295.mp4"}
+{"uid":"8198121570416224535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white box into the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17851440192343721205.mp4"}
+{"uid":"6206010379451114895","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6839084684779502627.mp4"}
+{"uid":"2572477510760801262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7148460820550627371.mp4"}
+{"uid":"13862171543149733442","text":"\u003ctask:success:discrete:True\u003e\nPick up the right pistachio from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the right pistachio from the table\n\u003c/PRED\u003e","video":"16393048570502315717.mp4"}
+{"uid":"17911957636958513404","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup 14- pick a pista 15- drop the pista in the paper cup Q: immediate next step? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup 14- pick a pista 15- drop the pista in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pista in the paper cup 2- done\n\u003c/PRED\u003e","video":"8409630373537894508.mp4"}
+{"uid":"16413690099922643895","text":"\u003ctask:success:discrete:True\u003e\nPlace the paper cup upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the paper cup upright on the table\n\u003c/PRED\u003e","video":"5336842708011587857.mp4"}
+{"uid":"9927527434750124002","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pistachios in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13379435333549992563.mp4"}
+{"uid":"7748092692646764350","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the top pistachio 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 top pistachio from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the top pistachio from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the top pistachio from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Pick up the top pistachio from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the top pistachio from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the top pistachio from the table 2- Put the pistachio into the paper cup 3- Pick up the right pistachio from the table 4- Place the pistachio into the paper cup 5- pick a pista\n\u003c/PRED\u003e","video":"15155120355088730137.mp4"}
+{"uid":"3316342272104823303","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pistachio 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 pistachio 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 pistachio from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pistachio from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Pick up the pistachio from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup 14- pick a pista 15- drop the pista in the paper cup Q: immediate next step? \u003cPRED\u003eA: Pick up the pistachio from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup 14- pick a pista 15- drop the pista in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pistachio from the table 2- drop the pista in the paper cup 3- done\n\u003c/PRED\u003e","video":"14989782693279221975.mp4"}
+{"uid":"9303223261013298623","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup 14- pick a pista 15- drop the pista in the paper cup Q: immediate next step? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup 14- pick a pista 15- drop the pista in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista in the paper cup 2- done\n\u003c/PRED\u003e","video":"9794530942940101484.mp4"}
+{"uid":"17285889800573893021","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":"3897972901711782225.mp4"}
+{"uid":"5388362502935310919","text":"\u003ctask:success:discrete:True\u003e\nplace the paper cup near to the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the paper cup near to the jar\n\u003c/PRED\u003e","video":"1028255272592521749.mp4"}
+{"uid":"8234528416040525342","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick a pista Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a pista Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table Q: immediate next step? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick a pista 2- Put the pistachio into the paper cup 3- Pick up the right pistachio from the table 4- Place the pistachio into the paper cup 5- pick a pista\n\u003c/PRED\u003e","video":"13252219995098401445.mp4"}
+{"uid":"7469605525837333331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16746385736158427348.mp4"}
+{"uid":"16720321347922441817","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick a pista Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a pista Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup Q: immediate next step? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick a pista 2- Move to the pistachios on the table 3- Move to the top pistachio on the table 4- Pick up the top pistachio from the table 5- Put the pistachio into the paper cup\n\u003c/PRED\u003e","video":"3125094025449865659.mp4"}
+{"uid":"7166843134338640860","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":"15047298499586982056.mp4"}
+{"uid":"17961916105237627858","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper cup near to the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper cup near to the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the paper cup near to the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the paper cup near to the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: place the paper cup near to the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table Q: immediate next step? \u003cPRED\u003eA: place the paper cup near to the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper cup near to the jar 2- Drop the pistachio into the paper cup 3- Lift a pistachio from the table 4- Release the pistachio into the paper cup 5- Move to the pistachios on the table\n\u003c/PRED\u003e","video":"8475808920060050460.mp4"}
+{"uid":"9621535570973248354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the big yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8603457340015317145.mp4"}
+{"uid":"6186600498197519024","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar Q: immediate next step? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista in the paper cup 2- Lift a pistachio from the table 3- Release the pistachio into the paper cup 4- Move to the pistachios on the table 5- Move to the top pistachio on the table\n\u003c/PRED\u003e","video":"2429055622757391257.mp4"}
+{"uid":"3136400570073921969","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"2180697604134033316.mp4"}
+{"uid":"5723362489196992787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11477583141366166578.mp4"}
+{"uid":"10723601338513785121","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- place the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachios in the bowl 2- Put the pistachios in the bowl 3- Put the scooper in the holder 4- close the glass jar lid 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5187570224317971477.mp4"}
+{"uid":"8670469322671050865","text":"\u003ctask:success:discrete:True\u003e\npick a pista Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e","video":"863159543396180285.mp4"}
+{"uid":"8018139442843756876","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pista Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 pista\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pista\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pista Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: pick the pista\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup 14- pick a pista Q: immediate next step? \u003cPRED\u003eA: pick the pista\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup 12- Pick up the right pistachio from the table 13- Place the pistachio into the paper cup 14- pick a pista Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pista 2- done\n\u003c/PRED\u003e","video":"10016621195326597738.mp4"}
+{"uid":"2521083394326637885","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17739808774064032596.mp4"}
+{"uid":"4459686036707723965","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick a pistachio from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick a pistachio from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick a pistachio from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick a pistachio from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Pick a pistachio from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar Q: immediate next step? \u003cPRED\u003eA: Pick a pistachio from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar Q: next 5 steps? \u003cPRED\u003eA: 1- Pick a pistachio from the table 2- Drop the pistachio into the paper cup 3- Lift a pistachio from the table 4- Release the pistachio into the paper cup 5- Move to the pistachios on the table\n\u003c/PRED\u003e","video":"4990506432083707380.mp4"}
+{"uid":"76166021359785889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10185866838367136366.mp4"}
+{"uid":"11885165877631925193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"184769010449769501.mp4"}
+{"uid":"2942104888822492015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut an orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5022824240134560171.mp4"}
+{"uid":"1364305510471349854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the bottle into the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15208740313664365145.mp4"}
+{"uid":"13154076435186866931","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5411056299407056037.mp4"}
+{"uid":"8340672992175265514","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pistachios in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"47014061047773513.mp4"}
+{"uid":"18266301727428855561","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper cup upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper cup upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the paper cup upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the paper cup upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: place the paper cup upright on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup Q: immediate next step? \u003cPRED\u003eA: place the paper cup upright on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper cup upright on the table 2- Move the paper cup close to the pistachio jar 3- Pick a pistachio from the table 4- Drop the pistachio into the paper cup 5- Lift a pistachio from the table\n\u003c/PRED\u003e","video":"11856471541560236077.mp4"}
+{"uid":"2724558264469445820","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11669419183461656566.mp4"}
+{"uid":"2313710332143470408","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right pistachio from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the right pistachio from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the right pistachio from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the right pistachio from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Pick up the right pistachio from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup Q: immediate next step? \u003cPRED\u003eA: Pick up the right pistachio from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table 9- Move to the top pistachio on the table 10- Pick up the top pistachio from the table 11- Put the pistachio into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right pistachio from the table 2- Place the pistachio into the paper cup 3- pick a pista 4- drop the pista in the paper cup 5- pick the pista\n\u003c/PRED\u003e","video":"2159454309109812750.mp4"}
+{"uid":"11962189088578588311","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the paper cup upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the paper cup upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the paper cup upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the paper cup upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Place the paper cup upright on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup Q: immediate next step? \u003cPRED\u003eA: Place the paper cup upright on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the paper cup upright on the table 2- Move the paper cup close to the pistachio jar 3- Pick a pistachio from the table 4- Drop the pistachio into the paper cup 5- Lift a pistachio from the table\n\u003c/PRED\u003e","video":"11522629234515973964.mp4"}
+{"uid":"11748352955916533054","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table Q: immediate next step? \u003cPRED\u003eA: drop the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pista in the paper cup 2- Release the pistachio into the paper cup 3- Move to the pistachios on the table 4- Move to the top pistachio on the table 5- Pick up the top pistachio from the table\n\u003c/PRED\u003e","video":"255990074738900944.mp4"}
+{"uid":"3234783881680361940","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper cup below the pista jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper cup below the pista jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the paper cup below the pista jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the paper cup below the pista 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: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: place the paper cup below the pista jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table Q: immediate next step? \u003cPRED\u003eA: place the paper cup below the pista jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper cup below the pista jar 2- Pick a pistachio from the table 3- Drop the pistachio into the paper cup 4- Lift a pistachio from the table 5- Release the pistachio into the paper cup\n\u003c/PRED\u003e","video":"15063078419346287235.mp4"}
+{"uid":"14051666186040260040","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the bowl up right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl up right 2- open the glass jar lid 3- Put the pistachios in the bowl 4- Put the pistachios in the bowl 5- Put the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl up right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl up right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl up right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl up right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: place the bowl up right\n\u003c/PRED\u003e","video":"4585716251087406324.mp4"}
+{"uid":"484064050600247252","text":"\u003ctask:success:discrete:True\u003e\nput a pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e","video":"2308404220094965401.mp4"}
+{"uid":"15507900122722933009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17642070482639563902.mp4"}
+{"uid":"7672602856495541810","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the paper cup close to the pistachio 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: Move the paper cup close to the pistachio jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the paper cup close to the pistachio jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the paper cup close to the pistachio 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: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Move the paper cup close to the pistachio jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table Q: immediate next step? \u003cPRED\u003eA: Move the paper cup close to the pistachio jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the paper cup close to the pistachio jar 2- Pick a pistachio from the table 3- Drop the pistachio into the paper cup 4- Lift a pistachio from the table 5- Release the pistachio into the paper cup\n\u003c/PRED\u003e","video":"7923120047116376744.mp4"}
+{"uid":"159382017658823740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sugar candy in a organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the top pistachio on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the top pistachio on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the top pistachio on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the top pistachio on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Move to the top pistachio on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table Q: immediate next step? \u003cPRED\u003eA: Move to the top pistachio on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table 7- Release the pistachio into the paper cup 8- Move to the pistachios on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the top pistachio on the table 2- Pick up the top pistachio from the table 3- Put the pistachio into the paper cup 4- Pick up the right pistachio from the table 5- Place the pistachio into the paper cup\n\u003c/PRED\u003e","video":"7549110566329411283.mp4"}
+{"uid":"18427398897958021734","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick a pista Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a pista Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar Q: immediate next step? \u003cPRED\u003eA: pick a pista\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar Q: next 5 steps? \u003cPRED\u003eA: 1- pick a pista 2- Lift a pistachio from the table 3- Release the pistachio into the paper cup 4- Move to the pistachios on the table 5- Move to the top pistachio on the table\n\u003c/PRED\u003e","video":"16766694773206538544.mp4"}
+{"uid":"3484352121183504051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4415211473033234608.mp4"}
+{"uid":"6507277255888537748","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup Q: immediate next step? \u003cPRED\u003eA: put a pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista in the paper cup 2- Move to the pistachios on the table 3- Move to the top pistachio on the table 4- Pick up the top pistachio from the table 5- Put the pistachio into the paper cup\n\u003c/PRED\u003e","video":"11959230437718102146.mp4"}
+{"uid":"5695616616648211330","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":"17961985525295430047.mp4"}
+{"uid":"14911639046433591835","text":"\u003ctask:success:discrete:True\u003e\nPick up the top pistachio 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 top pistachio from the table\n\u003c/PRED\u003e","video":"10614474178963323503.mp4"}
+{"uid":"12341207326744481715","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the pistachio into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the pistachio into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios Q: immediate next step? \u003cPRED\u003eA: Release the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table Q: immediate next step? \u003cPRED\u003eA: Release the pistachio into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled some pistachios, please turn the cup upright and fill it with the spilled pistachios. last 20 steps: 1- Move towards the paper cup 2- Place the paper cup upright on the table 3- Move the paper cup close to the pistachio jar 4- Pick a pistachio from the table 5- Drop the pistachio into the paper cup 6- Lift a pistachio from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the pistachio into the paper cup 2- Move to the pistachios on the table 3- Move to the top pistachio on the table 4- Pick up the top pistachio from the table 5- Put the pistachio into the paper cup\n\u003c/PRED\u003e","video":"15532983137370607793.mp4"}
+{"uid":"12952768617938790480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pistachio cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15194412816225504556.mp4"}
+{"uid":"1269296203794354691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8261808785439663116.mp4"}
+{"uid":"7512093965425533179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14158652335867231821.mp4"}
+{"uid":"17857020635269777247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4389725138415379444.mp4"}
+{"uid":"14974847230136547745","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Lift the mouse from the table 2- Drop the mouse in the top drawer 3- move to the stapler on the table 4- pick the stapler from the table 5- Place the stapler in the top drawer 6- Close the drawer 7- pick a pen from the table 8- put the pen in the pen holder 9- pick the blue pen from the table 10- Put the pen into the holder 11- Pick up the black pen from the table 12- Place the pen into the holder 13- Touch the right pen 14- Pick up the left pen from the table 15- Drop the pen on the table 16- Pick up the bottom pen from the table 17- Move away from the holder 18- Place the orange pen in the holder 19- Uplift the grey pen from the table 20- Move the pen close to the holder Q: immediate next step? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Lift the mouse from the table 2- Drop the mouse in the top drawer 3- move to the stapler on the table 4- pick the stapler from the table 5- Place the stapler in the top drawer 6- Close the drawer 7- pick a pen from the table 8- put the pen in the pen holder 9- pick the blue pen from the table 10- Put the pen into the holder 11- Pick up the black pen from the table 12- Place the pen into the holder 13- Touch the right pen 14- Pick up the left pen from the table 15- Drop the pen on the table 16- Pick up the bottom pen from the table 17- Move away from the holder 18- Place the orange pen in the holder 19- Uplift the grey pen from the table 20- Move the pen close to the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the white pen from the table 2- drop the white pen in the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the white pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the white pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e","video":"11404425003647951365.mp4"}
+{"uid":"2656284850027811229","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the pen holder 2- Place the pen into the holder 3- Touch the right pen 4- Pick up the left pen from the table 5- Drop the pen on the table\n\u003c/PRED\u003e","video":"3296542031087197155.mp4"}
+{"uid":"9233688500265459954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13494212399304862600.mp4"}
+{"uid":"6330036861831550958","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the orange pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the orange pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the orange pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Open the table top drawer 2- Pick up the sticky notes from the table 3- Place the sticky notes in the table top drawer 4- move to the mouse on the table 5- Move the mouse backwards on the table 6- Lift the mouse from the table 7- Drop the mouse in the top drawer 8- move to the stapler on the table 9- pick the stapler from the table 10- Place the stapler in the top drawer 11- Close the drawer 12- pick a pen from the table 13- put the pen in the pen holder 14- pick the blue pen from the table 15- Put the pen into the holder 16- Pick up the black pen from the table 17- Place the pen into the holder 18- Touch the right pen 19- Pick up the left pen from the table 20- Drop the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the orange pen from the table 2- Place the orange pen in the holder 3- Uplift the grey pen from the table 4- Move the pen close to the holder 5- Release the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the orange pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Open the table top drawer 2- Pick up the sticky notes from the table 3- Place the sticky notes in the table top drawer 4- move to the mouse on the table 5- Move the mouse backwards on the table 6- Lift the mouse from the table 7- Drop the mouse in the top drawer 8- move to the stapler on the table 9- pick the stapler from the table 10- Place the stapler in the top drawer 11- Close the drawer 12- pick a pen from the table 13- put the pen in the pen holder 14- pick the blue pen from the table 15- Put the pen into the holder 16- Pick up the black pen from the table 17- Place the pen into the holder 18- Touch the right pen 19- Pick up the left pen from the table 20- Drop the pen on the table Q: immediate next step? \u003cPRED\u003eA: Lift the orange pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Lift the orange pen from the table\n\u003c/PRED\u003e","video":"15827340619830712233.mp4"}
+{"uid":"16994008994452114315","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the stapler in the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the stapler in the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the stapler in the top drawer 2- pick a pen from the table 3- put the pen in the pen holder 4- pick the blue pen from the table 5- Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table Q: immediate next step? \u003cPRED\u003eA: put the stapler in the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the stapler in the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: put the stapler in the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the stapler in the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13358293202391047734.mp4"}
+{"uid":"11023464395314173757","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the white pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Move the mouse backwards on the table 2- Lift the mouse from the table 3- Drop the mouse in the top drawer 4- move to the stapler on the table 5- pick the stapler from the table 6- Place the stapler in the top drawer 7- Close the drawer 8- pick a pen from the table 9- put the pen in the pen holder 10- pick the blue pen from the table 11- Put the pen into the holder 12- Pick up the black pen from the table 13- Place the pen into the holder 14- Touch the right pen 15- Pick up the left pen from the table 16- Drop the pen on the table 17- Pick up the bottom pen from the table 18- Move away from the holder 19- Place the orange pen in the holder 20- Uplift the grey pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white pen on the table 2- pick the white pen from the table 3- drop the white pen in the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: drop the white pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the white 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Move the mouse backwards on the table 2- Lift the mouse from the table 3- Drop the mouse in the top drawer 4- move to the stapler on the table 5- pick the stapler from the table 6- Place the stapler in the top drawer 7- Close the drawer 8- pick a pen from the table 9- put the pen in the pen holder 10- pick the blue pen from the table 11- Put the pen into the holder 12- Pick up the black pen from the table 13- Place the pen into the holder 14- Touch the right pen 15- Pick up the left pen from the table 16- Drop the pen on the table 17- Pick up the bottom pen from the table 18- Move away from the holder 19- Place the orange pen in the holder 20- Uplift the grey pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the white pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white 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":"7140058310896034387.mp4"}
+{"uid":"11183266828645116761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cardboard box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13890552709297842059.mp4"}
+{"uid":"16035489507035335911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7580068114920694811.mp4"}
+{"uid":"6520175884986309609","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11501813163423929316.mp4"}
+{"uid":"16973286321882307019","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Open the table top drawer 2- Pick up the sticky notes from the table 3- Place the sticky notes in the table top drawer 4- move to the mouse on the table 5- Move the mouse backwards on the table 6- Lift the mouse from the table 7- Drop the mouse in the top drawer 8- move to the stapler on the table 9- pick the stapler from the table 10- Place the stapler in the top drawer 11- Close the drawer 12- pick a pen from the table 13- put the pen in the pen holder 14- pick the blue pen from the table 15- Put the pen into the holder 16- Pick up the black pen from the table 17- Place the pen into the holder 18- Touch the right pen 19- Pick up the left pen from the table 20- Drop the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- lift the orange pen from the table 2- Place the orange pen in the holder 3- Uplift the grey pen from the table 4- Move the pen close to the holder 5- Release the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the orange pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Open the table top drawer 2- Pick up the sticky notes from the table 3- Place the sticky notes in the table top drawer 4- move to the mouse on the table 5- Move the mouse backwards on the table 6- Lift the mouse from the table 7- Drop the mouse in the top drawer 8- move to the stapler on the table 9- pick the stapler from the table 10- Place the stapler in the top drawer 11- Close the drawer 12- pick a pen from the table 13- put the pen in the pen holder 14- pick the blue pen from the table 15- Put the pen into the holder 16- Pick up the black pen from the table 17- Place the pen into the holder 18- Touch the right pen 19- Pick up the left pen from the table 20- Drop the pen on the table Q: immediate next step? \u003cPRED\u003eA: lift the orange pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift the orange pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: lift the orange pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the orange pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift the orange pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1021547314750143513.mp4"}
+{"uid":"13420795329099939083","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the bottom drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15361922073085091879.mp4"}
+{"uid":"9367189130220896223","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1899302340424251800.mp4"}
+{"uid":"14438002283536306954","text":"\u003ctask:success:discrete:True\u003e\nlift the orange pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift the orange pen from the table\n\u003c/PRED\u003e","video":"13975798076825400585.mp4"}
+{"uid":"14287308603505000776","text":"\u003ctask:success:discrete:False\u003e\nmove to the mouse on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move to the mouse on the table 2- Move the mouse backwards on the table 3- Lift the mouse from the table 4- Drop the mouse in the top drawer 5- move to the stapler on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the mouse on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the mouse on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table Q: immediate next step? \u003cPRED\u003eA: move to the mouse on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the mouse on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: move to the mouse on the table\n\u003c/PRED\u003e","video":"3853571841700531333.mp4"}
+{"uid":"18120787343469286712","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottom pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Open the table top drawer 2- Pick up the sticky notes from the table 3- Place the sticky notes in the table top drawer 4- move to the mouse on the table 5- Move the mouse backwards on the table 6- Lift the mouse from the table 7- Drop the mouse in the top drawer 8- move to the stapler on the table 9- pick the stapler from the table 10- Place the stapler in the top drawer 11- Close the drawer 12- pick a pen from the table 13- put the pen in the pen holder 14- pick the blue pen from the table 15- Put the pen into the holder 16- Pick up the black pen from the table 17- Place the pen into the holder 18- Touch the right pen 19- Pick up the left pen from the table 20- Drop the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottom pen from the table 2- Move away from the holder 3- Place the orange pen in the holder 4- Uplift the grey pen from the table 5- Move the pen close to the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottom pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottom pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Open the table top drawer 2- Pick up the sticky notes from the table 3- Place the sticky notes in the table top drawer 4- move to the mouse on the table 5- Move the mouse backwards on the table 6- Lift the mouse from the table 7- Drop the mouse in the top drawer 8- move to the stapler on the table 9- pick the stapler from the table 10- Place the stapler in the top drawer 11- Close the drawer 12- pick a pen from the table 13- put the pen in the pen holder 14- pick the blue pen from the table 15- Put the pen into the holder 16- Pick up the black pen from the table 17- Place the pen into the holder 18- Touch the right pen 19- Pick up the left pen from the table 20- Drop the pen on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottom pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom pen from the table\n\u003c/PRED\u003e","video":"1489295825099694754.mp4"}
+{"uid":"3325455464312415072","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":"5310809117861328845.mp4"}
+{"uid":"10607647427945486133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown toy in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8986046779828336315.mp4"}
+{"uid":"16937731596006451833","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput sticky notes in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2351986448833846747.mp4"}
+{"uid":"12280414868400195848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the coffee cup in the other cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1958611414689237782.mp4"}
+{"uid":"13724259657104353761","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift the brown pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift the brown pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5700527387722480110.mp4"}
+{"uid":"9981862951123197809","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table Q: immediate next step? \u003cPRED\u003eA: Move forward to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove forward to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move forward to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Move forward to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward to the table 2- pick the stapler from the table 3- Place the stapler in the top drawer 4- Close the drawer 5- pick a pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move forward to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove forward to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16380452554419295528.mp4"}
+{"uid":"5889601087232670958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12351739040725994124.mp4"}
+{"uid":"12193355320516264285","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the table top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table top drawer 2- Open the table top drawer 3- Pick up the sticky notes from the table 4- Place the sticky notes in the table top drawer 5- move to the mouse on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the table top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Move to the table top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the table top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the table top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the table top drawer\n\u003c/PRED\u003e","video":"9165368582478834845.mp4"}
+{"uid":"13147198808291500115","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the top drawer 2- Pick up the sticky notes from the table 3- Place the sticky notes in the table top drawer 4- move to the mouse on the table 5- Move the mouse backwards on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10310843777226326324.mp4"}
+{"uid":"17283666625739803637","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Lift the mouse from the table 2- Drop the mouse in the top drawer 3- move to the stapler on the table 4- pick the stapler from the table 5- Place the stapler in the top drawer 6- Close the drawer 7- pick a pen from the table 8- put the pen in the pen holder 9- pick the blue pen from the table 10- Put the pen into the holder 11- Pick up the black pen from the table 12- Place the pen into the holder 13- Touch the right pen 14- Pick up the left pen from the table 15- Drop the pen on the table 16- Pick up the bottom pen from the table 17- Move away from the holder 18- Place the orange pen in the holder 19- Uplift the grey pen from the table 20- Move the pen close to the holder Q: immediate next step? \u003cPRED\u003eA: Release the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Lift the mouse from the table 2- Drop the mouse in the top drawer 3- move to the stapler on the table 4- pick the stapler from the table 5- Place the stapler in the top drawer 6- Close the drawer 7- pick a pen from the table 8- put the pen in the pen holder 9- pick the blue pen from the table 10- Put the pen into the holder 11- Pick up the black pen from the table 12- Place the pen into the holder 13- Touch the right pen 14- Pick up the left pen from the table 15- Drop the pen on the table 16- Pick up the bottom pen from the table 17- Move away from the holder 18- Place the orange pen in the holder 19- Uplift the grey pen from the table 20- Move the pen close to the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Release the pen on the table 2- drop the white pen in the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Release the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6483064136790322501.mp4"}
+{"uid":"5150529065772608882","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: drop the white pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the white pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Move to the table top drawer 2- Open the table top drawer 3- Pick up the sticky notes from the table 4- Place the sticky notes in the table top drawer 5- move to the mouse on the table 6- Move the mouse backwards on the table 7- Lift the mouse from the table 8- Drop the mouse in the top drawer 9- move to the stapler on the table 10- pick the stapler from the table 11- Place the stapler in the top drawer 12- Close the drawer 13- pick a pen from the table 14- put the pen in the pen holder 15- pick the blue pen from the table 16- Put the pen into the holder 17- Pick up the black pen from the table 18- Place the pen into the holder 19- Touch the right pen 20- Pick up the left pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the white pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Move to the table top drawer 2- Open the table top drawer 3- Pick up the sticky notes from the table 4- Place the sticky notes in the table top drawer 5- move to the mouse on the table 6- Move the mouse backwards on the table 7- Lift the mouse from the table 8- Drop the mouse in the top drawer 9- move to the stapler on the table 10- pick the stapler from the table 11- Place the stapler in the top drawer 12- Close the drawer 13- pick a pen from the table 14- put the pen in the pen holder 15- pick the blue pen from the table 16- Put the pen into the holder 17- Pick up the black pen from the table 18- Place the pen into the holder 19- Touch the right pen 20- Pick up the left pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white pen on the table 2- Pick up the bottom pen from the table 3- Move away from the holder 4- Place the orange pen in the holder 5- Uplift the grey pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the white pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17728994698482468806.mp4"}
+{"uid":"1387902856869258715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the lids on the existing lid in the spinning display Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4946854655608983404.mp4"}
+{"uid":"8207286287712025190","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7626432575250418270.mp4"}
+{"uid":"7797832842664184369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the left chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1450495110759648125.mp4"}
+{"uid":"6623797333091673156","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Drop the mouse in the top drawer 2- move to the stapler on the table 3- pick the stapler from the table 4- Place the stapler in the top drawer 5- Close the drawer 6- pick a pen from the table 7- put the pen in the pen holder 8- pick the blue pen from the table 9- Put the pen into the holder 10- Pick up the black pen from the table 11- Place the pen into the holder 12- Touch the right pen 13- Pick up the left pen from the table 14- Drop the pen on the table 15- Pick up the bottom pen from the table 16- Move away from the holder 17- Place the orange pen in the holder 18- Uplift the grey pen from the table 19- Move the pen close to the holder 20- Release the pen on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Drop the mouse in the top drawer 2- move to the stapler on the table 3- pick the stapler from the table 4- Place the stapler in the top drawer 5- Close the drawer 6- pick a pen from the table 7- put the pen in the pen holder 8- pick the blue pen from the table 9- Put the pen into the holder 10- Pick up the black pen from the table 11- Place the pen into the holder 12- Touch the right pen 13- Pick up the left pen from the table 14- Drop the pen on the table 15- Pick up the bottom pen from the table 16- Move away from the holder 17- Place the orange pen in the holder 18- Uplift the grey pen from the table 19- Move the pen close to the holder 20- Release the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen from the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e","video":"829378720449347840.mp4"}
+{"uid":"14795728853341653925","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace coffee cups in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18040184075974336391.mp4"}
+{"uid":"4223175017519210485","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"366755505108664184.mp4"}
+{"uid":"2489977990970504935","text":"\u003ctask:success:discrete:False\u003e\nmove organiser to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put sticky notes in the organiser 6- put pen in the organiser 7- put pen in the organiser 8- put pen in the organiser 9- put pen in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- move organiser to the right 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove organiser to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put sticky notes in the organiser 6- put pen in the organiser 7- put pen in the organiser 8- put pen in the organiser 9- put pen in the organiser Q: immediate next step? \u003cPRED\u003eA: move organiser to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move organiser to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: move organiser to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move organiser to the right\n\u003c/PRED\u003e","video":"14512361089436558696.mp4"}
+{"uid":"10000659906822856104","text":"\u003ctask:success:discrete:False\u003e\nOpen the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer Q: immediate next step? \u003cPRED\u003eA: Open the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Open the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open the top drawer 2- Pick up the sticky notes from the table 3- Place the sticky notes in the table top drawer 4- move to the mouse on the table 5- Move the mouse backwards on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the top drawer\n\u003c/PRED\u003e","video":"10514604334387017334.mp4"}
+{"uid":"1834272409205398946","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move to the stapler on the table 2- pick the stapler from the table 3- Place the stapler in the top drawer 4- Close the drawer 5- pick a pen from the table 6- put the pen in the pen holder 7- pick the blue pen from the table 8- Put the pen into the holder 9- Pick up the black pen from the table 10- Place the pen into the holder 11- Touch the right pen 12- Pick up the left pen from the table 13- Drop the pen on the table 14- Pick up the bottom pen from the table 15- Move away from the holder 16- Place the orange pen in the holder 17- Uplift the grey pen from the table 18- Move the pen close to the holder 19- Release the pen on the table 20- Pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move to the stapler on the table 2- pick the stapler from the table 3- Place the stapler in the top drawer 4- Close the drawer 5- pick a pen from the table 6- put the pen in the pen holder 7- pick the blue pen from the table 8- Put the pen into the holder 9- Pick up the black pen from the table 10- Place the pen into the holder 11- Touch the right pen 12- Pick up the left pen from the table 13- Drop the pen on the table 14- Pick up the bottom pen from the table 15- Move away from the holder 16- Place the orange pen in the holder 17- Uplift the grey pen from the table 18- Move the pen close to the holder 19- Release the pen on the table 20- Pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"13130044364769263303.mp4"}
+{"uid":"6316368601159103880","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6819509733244035468.mp4"}
+{"uid":"12254653545306859656","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: pick the blue pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue pen from the table 2- Put the pen into the holder 3- Pick up the black pen from the table 4- Place the pen into the holder 5- Touch the right pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the blue pen from the table\n\u003c/PRED\u003e","video":"10442762947422835579.mp4"}
+{"uid":"6595636396092036402","text":"\u003ctask:success:discrete:True\u003e\npick the white pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e","video":"9829723101293023497.mp4"}
+{"uid":"1223223209650510707","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5697372031530947576.mp4"}
+{"uid":"14529773144310528065","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- pick the stapler from the table 2- Place the stapler in the top drawer 3- Close the drawer 4- pick a pen from the table 5- put the pen in the pen holder 6- pick the blue pen from the table 7- Put the pen into the holder 8- Pick up the black pen from the table 9- Place the pen into the holder 10- Touch the right pen 11- Pick up the left pen from the table 12- Drop the pen on the table 13- Pick up the bottom pen from the table 14- Move away from the holder 15- Place the orange pen in the holder 16- Uplift the grey pen from the table 17- Move the pen close to the holder 18- Release the pen on the table 19- pick the white pen from the table 20- drop the white pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the white pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the white pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- pick the stapler from the table 2- Place the stapler in the top drawer 3- Close the drawer 4- pick a pen from the table 5- put the pen in the pen holder 6- pick the blue pen from the table 7- Put the pen into the holder 8- Pick up the black pen from the table 9- Place the pen into the holder 10- Touch the right pen 11- Pick up the left pen from the table 12- Drop the pen on the table 13- Pick up the bottom pen from the table 14- Move away from the holder 15- Place the orange pen in the holder 16- Uplift the grey pen from the table 17- Move the pen close to the holder 18- Release the pen on the table 19- pick the white pen from the table 20- drop the white pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15225066773138167057.mp4"}
+{"uid":"287182312919598968","text":"\u003ctask:success:discrete:True\u003e\nPick a pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick a pen from the table\n\u003c/PRED\u003e","video":"17312610217673971306.mp4"}
+{"uid":"3559562920588564425","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: drop the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black pen in the pen holder 2- Touch the right pen 3- Pick up the left pen from the table 4- Drop the pen on the table 5- Pick up the bottom pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the black pen in the pen holder\n\u003c/PRED\u003e","video":"11967634372846603385.mp4"}
+{"uid":"9808559386944508790","text":"\u003ctask:success:discrete:True\u003e\nOpen the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the top drawer\n\u003c/PRED\u003e","video":"2831791720932797102.mp4"}
+{"uid":"826103663168495692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green cup in the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1078373294587965503.mp4"}
+{"uid":"12003543222501697485","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black pen from the table 2- Place the pen into the holder 3- Touch the right pen 4- Pick up the left pen from the table 5- Drop the pen on the table\n\u003c/PRED\u003e","video":"10676235344264475535.mp4"}
+{"uid":"988474509712304591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11520652424206055997.mp4"}
+{"uid":"15909514126221389025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16292300526414643188.mp4"}
+{"uid":"7247622287723734958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3825151475446323990.mp4"}
+{"uid":"15292422712683878994","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Release the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Place the sticky notes in the table top drawer 2- move to the mouse on the table 3- Move the mouse backwards on the table 4- Lift the mouse from the table 5- Drop the mouse in the top drawer 6- move to the stapler on the table 7- pick the stapler from the table 8- Place the stapler in the top drawer 9- Close the drawer 10- pick a pen from the table 11- put the pen in the pen holder 12- pick the blue pen from the table 13- Put the pen into the holder 14- Pick up the black pen from the table 15- Place the pen into the holder 16- Touch the right pen 17- Pick up the left pen from the table 18- Drop the pen on the table 19- Pick up the bottom pen from the table 20- Move away from the holder Q: immediate next step? \u003cPRED\u003eA: Release the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Place the sticky notes in the table top drawer 2- move to the mouse on the table 3- Move the mouse backwards on the table 4- Lift the mouse from the table 5- Drop the mouse in the top drawer 6- move to the stapler on the table 7- pick the stapler from the table 8- Place the stapler in the top drawer 9- Close the drawer 10- pick a pen from the table 11- put the pen in the pen holder 12- pick the blue pen from the table 13- Put the pen into the holder 14- Pick up the black pen from the table 15- Place the pen into the holder 16- Touch the right pen 17- Pick up the left pen from the table 18- Drop the pen on the table 19- Pick up the bottom pen from the table 20- Move away from the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Release the pen into the holder 2- Uplift the grey pen from the table 3- Move the pen close to the holder 4- Release the pen on the table 5- pick the white pen from the table\n\u003c/PRED\u003e","video":"11721977355546569814.mp4"}
+{"uid":"14092473982752038737","text":"\u003ctask:success:discrete:True\u003e\nPlace the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e","video":"7299244719185372085.mp4"}
+{"uid":"8333812627397770041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink candy on the table from the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8067605083839635506.mp4"}
+{"uid":"13999070445005792181","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":"7207839280650901831.mp4"}
+{"uid":"3220425156528797019","text":"\u003ctask:success:discrete:True\u003e\nopen the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e","video":"18287519018110961958.mp4"}
+{"uid":"3038480978800780429","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: none 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: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table 2- Open the table top drawer 3- Pick up the sticky notes from the table 4- Place the sticky notes in the table top drawer 5- move to the mouse on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11383207492018894957.mp4"}
+{"uid":"2644201223050955357","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky notes into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky notes into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky notes into the drawer 2- move to the mouse on the table 3- Move the mouse backwards on the table 4- Lift the mouse from the table 5- Drop the mouse in the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sticky notes into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky notes into the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes into the drawer\n\u003c/PRED\u003e","video":"6180932894753534897.mp4"}
+{"uid":"4264946059911241395","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the top drawer 2- pick a pen from the table 3- put the pen in the pen holder 4- pick the blue pen from the table 5- Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8552313271751202558.mp4"}
+{"uid":"6402376876280051212","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12593552703039787956.mp4"}
+{"uid":"1492944683707378515","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Move the pen close to the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the pen close to the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move to the mouse on the table 2- Move the mouse backwards on the table 3- Lift the mouse from the table 4- Drop the mouse in the top drawer 5- move to the stapler on the table 6- pick the stapler from the table 7- Place the stapler in the top drawer 8- Close the drawer 9- pick a pen from the table 10- put the pen in the pen holder 11- pick the blue pen from the table 12- Put the pen into the holder 13- Pick up the black pen from the table 14- Place the pen into the holder 15- Touch the right pen 16- Pick up the left pen from the table 17- Drop the pen on the table 18- Pick up the bottom pen from the table 19- Move away from the holder 20- Place the orange pen in the holder Q: immediate next step? \u003cPRED\u003eA: Move the pen close to the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the pen close to the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the pen close to the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move to the mouse on the table 2- Move the mouse backwards on the table 3- Lift the mouse from the table 4- Drop the mouse in the top drawer 5- move to the stapler on the table 6- pick the stapler from the table 7- Place the stapler in the top drawer 8- Close the drawer 9- pick a pen from the table 10- put the pen in the pen holder 11- pick the blue pen from the table 12- Put the pen into the holder 13- Pick up the black pen from the table 14- Place the pen into the holder 15- Touch the right pen 16- Pick up the left pen from the table 17- Drop the pen on the table 18- Pick up the bottom pen from the table 19- Move away from the holder 20- Place the orange pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move the pen close to the holder 2- Release the pen on the table 3- pick the white pen from the table 4- drop the white pen in the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the pen close to the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11710039988855589907.mp4"}
+{"uid":"17063370919482892881","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Touch the right pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table 19- Place the pen into the holder Q: immediate next step? \u003cPRED\u003eA: Touch the right pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTouch the right pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Touch the right pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTouch the right pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Touch the right pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table 19- Place the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Touch the right pen 2- Pick up the left pen from the table 3- Drop the pen on the table 4- Pick up the bottom pen from the table 5- Move away from the holder\n\u003c/PRED\u003e","video":"8020035891050891402.mp4"}
+{"uid":"16066730551977777981","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the gray pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Release the gray pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Move the mouse backwards on the table 2- Lift the mouse from the table 3- Drop the mouse in the top drawer 4- move to the stapler on the table 5- pick the stapler from the table 6- Place the stapler in the top drawer 7- Close the drawer 8- pick a pen from the table 9- put the pen in the pen holder 10- pick the blue pen from the table 11- Put the pen into the holder 12- Pick up the black pen from the table 13- Place the pen into the holder 14- Touch the right pen 15- Pick up the left pen from the table 16- Drop the pen on the table 17- Pick up the bottom pen from the table 18- Move away from the holder 19- Place the orange pen in the holder 20- Uplift the grey pen from the table Q: immediate next step? \u003cPRED\u003eA: Release the gray pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the gray pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the gray pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the gray pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Move the mouse backwards on the table 2- Lift the mouse from the table 3- Drop the mouse in the top drawer 4- move to the stapler on the table 5- pick the stapler from the table 6- Place the stapler in the top drawer 7- Close the drawer 8- pick a pen from the table 9- put the pen in the pen holder 10- pick the blue pen from the table 11- Put the pen into the holder 12- Pick up the black pen from the table 13- Place the pen into the holder 14- Touch the right pen 15- Pick up the left pen from the table 16- Drop the pen on the table 17- Pick up the bottom pen from the table 18- Move away from the holder 19- Place the orange pen in the holder 20- Uplift the grey pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the gray pen on the table 2- pick the white pen from the table 3- drop the white pen in the pen holder 4- done\n\u003c/PRED\u003e","video":"10187748033007134084.mp4"}
+{"uid":"9481999441106915734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace color candies into top of the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1322500565420323970.mp4"}
+{"uid":"15259508385921548400","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put sticky notes in the organiser 6- put pen in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the organiser 2- put pen in the organiser 3- put pen in the organiser 4- move organiser to the right 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put sticky notes in the organiser 6- put pen in the organiser Q: immediate next step? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e","video":"17653530505815267253.mp4"}
+{"uid":"4076383864444544476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4825740239648631913.mp4"}
+{"uid":"2911788982794200758","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":"17188597389937997141.mp4"}
+{"uid":"8994457641269081528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1016624673771574372.mp4"}
+{"uid":"9293630234330794541","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the table 2- Open the table top drawer 3- Pick up the sticky notes from the table 4- Place the sticky notes in the table top drawer 5- move to the mouse on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e","video":"3989491610520453166.mp4"}
+{"uid":"2330793003770417","text":"\u003ctask:success:discrete:True\u003e\npick the white pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e","video":"17362506717209546780.mp4"}
+{"uid":"6338542024545592717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sugar packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14414018073856517137.mp4"}
+{"uid":"15821269390126760215","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the paper box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13642086651180413098.mp4"}
+{"uid":"11708467370792619446","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the mouse backwards on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the mouse backwards on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the mouse backwards on the table 2- Lift the mouse from the table 3- Drop the mouse in the top drawer 4- move to the stapler on the table 5- pick the stapler from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the mouse backwards on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the mouse backwards on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Move the mouse backwards on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table Q: immediate next step? \u003cPRED\u003eA: Move the mouse backwards on the table\n\u003c/PRED\u003e","video":"6988442558890012477.mp4"}
+{"uid":"11052086306507012231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the instant oatmeal pack in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3042592936522292602.mp4"}
+{"uid":"3553853952935772802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"10603503766323462685.mp4"}
+{"uid":"16660644692258074013","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":"13853982932161473077.mp4"}
+{"uid":"1931909139492127031","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the grey pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Drop the mouse in the top drawer 2- move to the stapler on the table 3- pick the stapler from the table 4- Place the stapler in the top drawer 5- Close the drawer 6- pick a pen from the table 7- put the pen in the pen holder 8- pick the blue pen from the table 9- Put the pen into the holder 10- Pick up the black pen from the table 11- Place the pen into the holder 12- Touch the right pen 13- Pick up the left pen from the table 14- Drop the pen on the table 15- Pick up the bottom pen from the table 16- Move away from the holder 17- Place the orange pen in the holder 18- Uplift the grey pen from the table 19- Move the pen close to the holder 20- Release the pen on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the grey pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the grey pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Drop the mouse in the top drawer 2- move to the stapler on the table 3- pick the stapler from the table 4- Place the stapler in the top drawer 5- Close the drawer 6- pick a pen from the table 7- put the pen in the pen holder 8- pick the blue pen from the table 9- Put the pen into the holder 10- Pick up the black pen from the table 11- Place the pen into the holder 12- Touch the right pen 13- Pick up the left pen from the table 14- Drop the pen on the table 15- Pick up the bottom pen from the table 16- Move away from the holder 17- Place the orange pen in the holder 18- Uplift the grey pen from the table 19- Move the pen close to the holder 20- Release the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the grey pen from the table 2- drop the white pen in the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the grey pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the grey pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the grey pen from the table\n\u003c/PRED\u003e","video":"15729791153584936763.mp4"}
+{"uid":"3550691386006966634","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the white pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the white pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4238003166407471202.mp4"}
+{"uid":"5638855447524910417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10577049142886813815.mp4"}
+{"uid":"209381618987049824","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the sticky notes 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 sticky notes from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the sticky notes from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the sticky notes from the table 2- Place the sticky notes in the table top drawer 3- move to the mouse on the table 4- Move the mouse backwards on the table 5- Lift the mouse from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the sticky notes 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 sticky notes from the table\n\u003c/PRED\u003e","video":"8359736539319039059.mp4"}
+{"uid":"18078866759564333614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13148433611316810696.mp4"}
+{"uid":"4819719999752749535","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":"10585086648046320639.mp4"}
+{"uid":"15849424605503894667","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Drop the stapler into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the stapler into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the stapler into the drawer 2- Close the drawer 3- pick a pen from the table 4- put the pen in the pen holder 5- pick the blue pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table Q: immediate next step? \u003cPRED\u003eA: Drop the stapler into the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the stapler into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the stapler into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the stapler into the drawer\n\u003c/PRED\u003e","video":"18379940491200368016.mp4"}
+{"uid":"15727093961129016522","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move to the stapler on the table 2- pick the stapler from the table 3- Place the stapler in the top drawer 4- Close the drawer 5- pick a pen from the table 6- put the pen in the pen holder 7- pick the blue pen from the table 8- Put the pen into the holder 9- Pick up the black pen from the table 10- Place the pen into the holder 11- Touch the right pen 12- Pick up the left pen from the table 13- Drop the pen on the table 14- Pick up the bottom pen from the table 15- Move away from the holder 16- Place the orange pen in the holder 17- Uplift the grey pen from the table 18- Move the pen close to the holder 19- Release the pen on the table 20- pick the white pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the white pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the white pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the white pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move to the stapler on the table 2- pick the stapler from the table 3- Place the stapler in the top drawer 4- Close the drawer 5- pick a pen from the table 6- put the pen in the pen holder 7- pick the blue pen from the table 8- Put the pen into the holder 9- Pick up the black pen from the table 10- Place the pen into the holder 11- Touch the right pen 12- Pick up the left pen from the table 13- Drop the pen on the table 14- Pick up the bottom pen from the table 15- Move away from the holder 16- Place the orange pen in the holder 17- Uplift the grey pen from the table 18- Move the pen close to the holder 19- Release the pen on the table 20- pick the white pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white pen in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: drop the white pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white pen in the pen holder\n\u003c/PRED\u003e","video":"3284544170300036538.mp4"}
+{"uid":"3900517361753404195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11360797537094455542.mp4"}
+{"uid":"11475052998232555050","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16659606939030767166.mp4"}
+{"uid":"12034664894988255918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4101643573897994917.mp4"}
+{"uid":"5015249226431055154","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: move to the stapler on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the stapler on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the stapler on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the stapler on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the stapler on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer Q: immediate next step? \u003cPRED\u003eA: move to the stapler on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- move to the stapler on the table 2- pick the stapler from the table 3- Place the stapler in the top drawer 4- Close the drawer 5- pick a pen from the table\n\u003c/PRED\u003e","video":"14316802295678189351.mp4"}
+{"uid":"448692969541376891","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sticky notes in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser Q: immediate next step? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put sticky notes in the organiser 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put pen in the organiser 5- put pen in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sticky notes in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e","video":"2438844365639147610.mp4"}
+{"uid":"4990162959536878635","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put sticky notes in the organiser 6- put pen in the organiser 7- put pen in the organiser Q: immediate next step? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put sticky notes in the organiser 6- put pen in the organiser 7- put pen in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the organiser 2- put pen in the organiser 3- move organiser to the right 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e","video":"5892823256672228559.mp4"}
+{"uid":"1115979148205824462","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the scoop on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9536001940556049150.mp4"}
+{"uid":"3878216869655627399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12966091592898727671.mp4"}
+{"uid":"5184372217887382506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3960698578394953173.mp4"}
+{"uid":"11345214328943116008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the forks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12337184190872759732.mp4"}
+{"uid":"2331407539933925325","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: pick the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sticky notes from the table 2- move to the mouse on the table 3- Move the mouse backwards on the table 4- Lift the mouse from the table 5- Drop the mouse in the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer Q: immediate next step? \u003cPRED\u003eA: pick the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the sticky notes from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the sticky notes from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the sticky notes from the table\n\u003c/PRED\u003e","video":"4627030279997643364.mp4"}
+{"uid":"13369012410598319379","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Drop the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue pen in the holder 2- Pick up the black pen from the table 3- Place the pen into the holder 4- Touch the right pen 5- Pick up the left pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table Q: immediate next step? \u003cPRED\u003eA: Drop the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue pen in the holder\n\u003c/PRED\u003e","video":"306234225478943123.mp4"}
+{"uid":"10511336177686850410","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange pen in the holder\n\u003c/PRED\u003e","video":"1985773242539459794.mp4"}
+{"uid":"8789565381540346375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the  packet 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":"11987887882753057620.mp4"}
+{"uid":"1098861138028766189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the right 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":"10215964165485835952.mp4"}
+{"uid":"5671952221979398458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake the packet 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":"10165299527868713287.mp4"}
+{"uid":"10606341931616156191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14378990959554123332.mp4"}
+{"uid":"9144994084185522619","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the left pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table 19- Place the pen into the holder 20- Touch the right pen Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the left pen from the table 2- Drop the pen on the table 3- Pick up the bottom pen from the table 4- Move away from the holder 5- Place the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table 19- Place the pen into the holder 20- Touch the right pen Q: immediate next step? \u003cPRED\u003eA: Pick up the left pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the left pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the left pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the left pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the left pen from the table\n\u003c/PRED\u003e","video":"12016723424723603890.mp4"}
+{"uid":"10264022403592954138","text":"\u003ctask:success:discrete:True\u003e\nMove the pen close to the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the pen close to the holder\n\u003c/PRED\u003e","video":"14174639356921992896.mp4"}
+{"uid":"15750966751822602785","text":"\u003ctask:success:discrete:False\u003e\nmove to the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: move to the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Move to the table top drawer 2- Open the table top drawer 3- Pick up the sticky notes from the table 4- Place the sticky notes in the table top drawer 5- move to the mouse on the table 6- Move the mouse backwards on the table 7- Lift the mouse from the table 8- Drop the mouse in the top drawer 9- move to the stapler on the table 10- pick the stapler from the table 11- Place the stapler in the top drawer 12- Close the drawer 13- pick a pen from the table 14- put the pen in the pen holder 15- pick the blue pen from the table 16- Put the pen into the holder 17- Pick up the black pen from the table 18- Place the pen into the holder 19- Touch the right pen 20- Pick up the left pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move to the pen holder 2- Pick up the bottom pen from the table 3- Move away from the holder 4- Place the orange pen in the holder 5- Uplift the grey pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Move to the table top drawer 2- Open the table top drawer 3- Pick up the sticky notes from the table 4- Place the sticky notes in the table top drawer 5- move to the mouse on the table 6- Move the mouse backwards on the table 7- Lift the mouse from the table 8- Drop the mouse in the top drawer 9- move to the stapler on the table 10- pick the stapler from the table 11- Place the stapler in the top drawer 12- Close the drawer 13- pick a pen from the table 14- put the pen in the pen holder 15- pick the blue pen from the table 16- Put the pen into the holder 17- Pick up the black pen from the table 18- Place the pen into the holder 19- Touch the right pen 20- Pick up the left pen from the table Q: immediate next step? \u003cPRED\u003eA: move to the pen holder\n\u003c/PRED\u003e","video":"229077927421953766.mp4"}
+{"uid":"18128352794575300717","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Uplift the grey pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Uplift the grey pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move to the mouse on the table 2- Move the mouse backwards on the table 3- Lift the mouse from the table 4- Drop the mouse in the top drawer 5- move to the stapler on the table 6- pick the stapler from the table 7- Place the stapler in the top drawer 8- Close the drawer 9- pick a pen from the table 10- put the pen in the pen holder 11- pick the blue pen from the table 12- Put the pen into the holder 13- Pick up the black pen from the table 14- Place the pen into the holder 15- Touch the right pen 16- Pick up the left pen from the table 17- Drop the pen on the table 18- Pick up the bottom pen from the table 19- Move away from the holder 20- Place the orange pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Uplift the grey pen from the table 2- Release the pen on the table 3- pick the white pen from the table 4- drop the white pen in the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUplift the grey pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move to the mouse on the table 2- Move the mouse backwards on the table 3- Lift the mouse from the table 4- Drop the mouse in the top drawer 5- move to the stapler on the table 6- pick the stapler from the table 7- Place the stapler in the top drawer 8- Close the drawer 9- pick a pen from the table 10- put the pen in the pen holder 11- pick the blue pen from the table 12- Put the pen into the holder 13- Pick up the black pen from the table 14- Place the pen into the holder 15- Touch the right pen 16- Pick up the left pen from the table 17- Drop the pen on the table 18- Pick up the bottom pen from the table 19- Move away from the holder 20- Place the orange pen in the holder Q: immediate next step? \u003cPRED\u003eA: Uplift the grey pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Uplift the grey pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUplift the grey pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5850262377859669955.mp4"}
+{"uid":"16364446671118364038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16072994891511135174.mp4"}
+{"uid":"11615182107332049516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bowl in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1268275348696465179.mp4"}
+{"uid":"12334181739956548438","text":"\u003ctask:success:discrete:True\u003e\nplace the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e","video":"1938751520855525471.mp4"}
+{"uid":"6194872131972463278","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":"15954436001988006063.mp4"}
+{"uid":"4019737885303045855","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table Q: immediate next step? \u003cPRED\u003eA: Move towards the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the top drawer 2- Pick up the sticky notes from the table 3- Place the sticky notes in the table top drawer 4- move to the mouse on the table 5- Move the mouse backwards on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Move towards the top drawer\n\u003c/PRED\u003e","video":"13383121629361855949.mp4"}
+{"uid":"7303831362527708889","text":"\u003ctask:success:discrete:True\u003e\npick the mouse from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the mouse from the table\n\u003c/PRED\u003e","video":"3301465807623084813.mp4"}
+{"uid":"8249038896551694524","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2563716843336235139.mp4"}
+{"uid":"17305230384719747490","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- pick the blue pen from the table 3- Put the pen into the holder 4- Pick up the black pen from the table 5- Place the pen into the holder\n\u003c/PRED\u003e","video":"10767757505649312096.mp4"}
+{"uid":"12843845360293000282","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Move to the pens on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the pens on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the pens on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the pens on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Move to the pens on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the pens on the table 2- put the pen in the pen holder 3- pick the blue pen from the table 4- Put the pen into the holder 5- Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15517313442514786018.mp4"}
+{"uid":"4858816663932401508","text":"\u003ctask:success:discrete:False\u003e\nDrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move to the stapler on the table 2- pick the stapler from the table 3- Place the stapler in the top drawer 4- Close the drawer 5- pick a pen from the table 6- put the pen in the pen holder 7- pick the blue pen from the table 8- Put the pen into the holder 9- Pick up the black pen from the table 10- Place the pen into the holder 11- Touch the right pen 12- Pick up the left pen from the table 13- Drop the pen on the table 14- Pick up the bottom pen from the table 15- Move away from the holder 16- Place the orange pen in the holder 17- Uplift the grey pen from the table 18- Move the pen close to the holder 19- Release the pen on the table 20- pick the white pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen into the holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move to the stapler on the table 2- pick the stapler from the table 3- Place the stapler in the top drawer 4- Close the drawer 5- pick a pen from the table 6- put the pen in the pen holder 7- pick the blue pen from the table 8- Put the pen into the holder 9- Pick up the black pen from the table 10- Place the pen into the holder 11- Touch the right pen 12- Pick up the left pen from the table 13- Drop the pen on the table 14- Pick up the bottom pen from the table 15- Move away from the holder 16- Place the orange pen in the holder 17- Uplift the grey pen from the table 18- Move the pen close to the holder 19- Release the pen on the table 20- pick the white pen from the table Q: immediate next step? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen into the holder\n\u003c/PRED\u003e","video":"3040883424516196765.mp4"}
+{"uid":"2224624612505362412","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen in the holder 2- Touch the right pen 3- Pick up the left pen from the table 4- Drop the pen on the table 5- Pick up the bottom pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e","video":"11232502132380077022.mp4"}
+{"uid":"13246529391428958114","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Touch the right pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTouch the right pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16046536503483146618.mp4"}
+{"uid":"15320442899452348355","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2017743710527133695.mp4"}
+{"uid":"11454544126859647281","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop popcorn bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17196935651580202753.mp4"}
+{"uid":"15982691390089453565","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- pick a pen from the table 3- put the pen in the pen holder 4- pick the blue pen from the table 5- Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6209133559442009163.mp4"}
+{"uid":"10938452106224385891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3475652799013013859.mp4"}
+{"uid":"18022930437823300117","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky notes in the top drawer 2- move to the mouse on the table 3- Move the mouse backwards on the table 4- Lift the mouse from the table 5- Drop the mouse in the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky notes in the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky notes in the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: place the sticky notes in the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky notes in the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky notes in the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table Q: immediate next step? \u003cPRED\u003eA: place the sticky notes in the top drawer\n\u003c/PRED\u003e","video":"10911476503165557514.mp4"}
+{"uid":"13562815612571738691","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the white pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table 19- Place the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the white pen from the table 2- Pick up the bottom pen from the table 3- Move away from the holder 4- Place the orange pen in the holder 5- Uplift the grey pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the white pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table 19- Place the pen into the holder Q: immediate next step? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e","video":"2996267687845378492.mp4"}
+{"uid":"665195156534882962","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the white pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the white pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16216892358098300562.mp4"}
+{"uid":"2886908236491615218","text":"\u003ctask:success:discrete:True\u003e\nPick up the grey 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 grey pen\n\u003c/PRED\u003e","video":"1265816437867756953.mp4"}
+{"uid":"11692119179893510865","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: pick the stapler from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the stapler from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the stapler from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the stapler from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the stapler from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the stapler from the table 2- Close the drawer 3- pick a pen from the table 4- put the pen in the pen holder 5- pick the blue pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table Q: immediate next step? \u003cPRED\u003eA: pick the stapler from the table\n\u003c/PRED\u003e","video":"14994163127758900820.mp4"}
+{"uid":"4447918711102060267","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":"15931056135030727780.mp4"}
+{"uid":"167457634274810854","text":"\u003ctask:success:discrete:False\u003e\nput the organiser upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the organiser upright on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the organiser upright on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the organiser upright on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: put the organiser upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the organiser upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11998010265505428412.mp4"}
+{"uid":"15127075478849098395","text":"\u003ctask:success:discrete:False\u003e\nPlace the stapler in the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the stapler in the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Place the stapler in the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the stapler in the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the stapler in the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table Q: immediate next step? \u003cPRED\u003eA: Place the stapler in the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the stapler in the top drawer 2- Close the drawer 3- pick a pen from the table 4- put the pen in the pen holder 5- pick the blue pen from the table\n\u003c/PRED\u003e","video":"3144376974380478057.mp4"}
+{"uid":"13123228808146470028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWrite on paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3908021437894726550.mp4"}
+{"uid":"9585197898174869421","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Place the sticky notes in the table top drawer 2- move to the mouse on the table 3- Move the mouse backwards on the table 4- Lift the mouse from the table 5- Drop the mouse in the top drawer 6- move to the stapler on the table 7- pick the stapler from the table 8- Place the stapler in the top drawer 9- Close the drawer 10- pick a pen from the table 11- put the pen in the pen holder 12- pick the blue pen from the table 13- Put the pen into the holder 14- Pick up the black pen from the table 15- Place the pen into the holder 16- Touch the right pen 17- Pick up the left pen from the table 18- Drop the pen on the table 19- Pick up the bottom pen from the table 20- Move away from the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange pen in the holder 2- Uplift the grey pen from the table 3- Move the pen close to the holder 4- Release the pen on the table 5- pick the white pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Place the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Place the sticky notes in the table top drawer 2- move to the mouse on the table 3- Move the mouse backwards on the table 4- Lift the mouse from the table 5- Drop the mouse in the top drawer 6- move to the stapler on the table 7- pick the stapler from the table 8- Place the stapler in the top drawer 9- Close the drawer 10- pick a pen from the table 11- put the pen in the pen holder 12- pick the blue pen from the table 13- Put the pen into the holder 14- Pick up the black pen from the table 15- Place the pen into the holder 16- Touch the right pen 17- Pick up the left pen from the table 18- Drop the pen on the table 19- Pick up the bottom pen from the table 20- Move away from the holder Q: immediate next step? \u003cPRED\u003eA: Place the orange pen in the holder\n\u003c/PRED\u003e","video":"14160142817894257346.mp4"}
+{"uid":"8487775835677216342","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut blue cup in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17752831594497753883.mp4"}
+{"uid":"7304873438886842084","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Pick up the sticky notes from the table 2- Place the sticky notes in the table top drawer 3- move to the mouse on the table 4- Move the mouse backwards on the table 5- Lift the mouse from the table 6- Drop the mouse in the top drawer 7- move to the stapler on the table 8- pick the stapler from the table 9- Place the stapler in the top drawer 10- Close the drawer 11- pick a pen from the table 12- put the pen in the pen holder 13- pick the blue pen from the table 14- Put the pen into the holder 15- Pick up the black pen from the table 16- Place the pen into the holder 17- Touch the right pen 18- Pick up the left pen from the table 19- Drop the pen on the table 20- Pick up the bottom pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the holder 2- Place the orange pen in the holder 3- Uplift the grey pen from the table 4- Move the pen close to the holder 5- Release the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Pick up the sticky notes from the table 2- Place the sticky notes in the table top drawer 3- move to the mouse on the table 4- Move the mouse backwards on the table 5- Lift the mouse from the table 6- Drop the mouse in the top drawer 7- move to the stapler on the table 8- pick the stapler from the table 9- Place the stapler in the top drawer 10- Close the drawer 11- pick a pen from the table 12- put the pen in the pen holder 13- pick the blue pen from the table 14- Put the pen into the holder 15- Pick up the black pen from the table 16- Place the pen into the holder 17- Touch the right pen 18- Pick up the left pen from the table 19- Drop the pen on the table 20- Pick up the bottom pen from the table Q: immediate next step? \u003cPRED\u003eA: Move away from the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Move away from the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the holder\n\u003c/PRED\u003e","video":"4450110774828670679.mp4"}
+{"uid":"15994427563058512410","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6655267165783658991.mp4"}
+{"uid":"10443991093004945926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove tray backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12663866160584164311.mp4"}
+{"uid":"14934958361841468360","text":"\u003ctask:success:discrete:True\u003e\nPut the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e","video":"5023537303404264604.mp4"}
+{"uid":"10139052283175152124","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer Q: immediate next step? \u003cPRED\u003eA: Push the mouse to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the mouse to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the mouse to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the mouse to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the mouse to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Push the mouse to the left 2- Lift the mouse from the table 3- Drop the mouse in the top drawer 4- move to the stapler on the table 5- pick the stapler from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Push the mouse to the left\n\u003c/PRED\u003e","video":"6223093838080261320.mp4"}
+{"uid":"14138513354676215656","text":"\u003ctask:success:discrete:False\u003e\nput sticky notes in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sticky notes in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser Q: immediate next step? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put sticky notes in the organiser 2- put pen in the organiser 3- put pen in the organiser 4- put pen in the organiser 5- put pen in the organiser\n\u003c/PRED\u003e","video":"15169658686010295474.mp4"}
+{"uid":"14829260323299320551","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the white pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2590397771111379170.mp4"}
+{"uid":"11758759557540655426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace kold gold packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13115533057315712933.mp4"}
+{"uid":"3868559508498281642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2813495768922335984.mp4"}
+{"uid":"9316632412636031470","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngo away from the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- go away from the top drawer 2- Place the sticky notes in the table top drawer 3- move to the mouse on the table 4- Move the mouse backwards on the table 5- Lift the mouse from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go away from the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go away from the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo away from the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer Q: immediate next step? \u003cPRED\u003eA: go away from the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: go away from the top drawer\n\u003c/PRED\u003e","video":"2794110797907830473.mp4"}
+{"uid":"3368402941372838892","text":"\u003ctask:success:discrete:True\u003e\nMove away from the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the holder\n\u003c/PRED\u003e","video":"12151568224346990620.mp4"}
+{"uid":"11590194544135506699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nuts 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":"14872605106413434487.mp4"}
+{"uid":"6162049997726837190","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sticky notes in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 sticky notes in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put sticky notes in the organiser 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put pen in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table Q: immediate next step? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e","video":"10500432264183532874.mp4"}
+{"uid":"6146411350002108704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16715443617043080927.mp4"}
+{"uid":"296108874515093796","text":"\u003ctask:success:discrete:True\u003e\npick a pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e","video":"14587207631688482532.mp4"}
+{"uid":"18188659762571686120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6733637627071684899.mp4"}
+{"uid":"5174345119152962283","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"16484416409957302134.mp4"}
+{"uid":"12929185929106855662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18169328431209428237.mp4"}
+{"uid":"4386454637667441556","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the mouse on the table 2- Move the mouse backwards on the table 3- Lift the mouse from the table 4- Drop the mouse in the top drawer 5- move to the stapler on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the mouse on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer Q: immediate next step? \u003cPRED\u003eA: Move towards the mouse on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the mouse on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Move towards the mouse on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the mouse on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 mouse on the table\n\u003c/PRED\u003e","video":"4086269124567689244.mp4"}
+{"uid":"9153082751063674917","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Close the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the top drawer 2- put the pen in the pen holder 3- pick the blue pen from the table 4- Put the pen into the holder 5- Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer Q: immediate next step? \u003cPRED\u003eA: Close the top drawer\n\u003c/PRED\u003e","video":"7779217312532432795.mp4"}
+{"uid":"4648354156796326286","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick a pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer Q: immediate next step? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick a pen from the table 2- put the pen in the pen holder 3- pick the blue pen from the table 4- Put the pen into the holder 5- Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: pick a pen from the table\n\u003c/PRED\u003e","video":"2526789541596714955.mp4"}
+{"uid":"3713996614873326491","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser Q: immediate next step? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put sticky notes in the organiser 2- put sticky notes in the organiser 3- put pen in the organiser 4- put pen in the organiser 5- put pen in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sticky notes in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 sticky notes in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: put sticky notes in the organiser\n\u003c/PRED\u003e","video":"4720068207313285207.mp4"}
+{"uid":"2959751101077637643","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table Q: immediate next step? \u003cPRED\u003eA: Lift the mouse from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the mouse from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the mouse from the table 2- Drop the mouse in the top drawer 3- move to the stapler on the table 4- pick the stapler from the table 5- Place the stapler in the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the mouse from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the mouse from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Lift the mouse from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the mouse 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":"6046661807259029943.mp4"}
+{"uid":"12322877583076858403","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"15571781315715544416.mp4"}
+{"uid":"13220511234461981567","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green object in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4340755385611559810.mp4"}
+{"uid":"2290600804772195916","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Place the sticky notes in the table top drawer 2- move to the mouse on the table 3- Move the mouse backwards on the table 4- Lift the mouse from the table 5- Drop the mouse in the top drawer 6- move to the stapler on the table 7- pick the stapler from the table 8- Place the stapler in the top drawer 9- Close the drawer 10- pick a pen from the table 11- put the pen in the pen holder 12- pick the blue pen from the table 13- Put the pen into the holder 14- Pick up the black pen from the table 15- Place the pen into the holder 16- Touch the right pen 17- Pick up the left pen from the table 18- Drop the pen on the table 19- Pick up the bottom pen from the table 20- Move away from the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen from the table 2- Move the pen close to the holder 3- Release the pen on the table 4- pick the white pen from the table 5- drop the white pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Place the sticky notes in the table top drawer 2- move to the mouse on the table 3- Move the mouse backwards on the table 4- Lift the mouse from the table 5- Drop the mouse in the top drawer 6- move to the stapler on the table 7- pick the stapler from the table 8- Place the stapler in the top drawer 9- Close the drawer 10- pick a pen from the table 11- put the pen in the pen holder 12- pick the blue pen from the table 13- Put the pen into the holder 14- Pick up the black pen from the table 15- Place the pen into the holder 16- Touch the right pen 17- Pick up the left pen from the table 18- Drop the pen on the table 19- Pick up the bottom pen from the table 20- Move away from the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e","video":"16824045375280693729.mp4"}
+{"uid":"14578132782021305820","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":"10051234153774704522.mp4"}
+{"uid":"2842700286634413620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toffee 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":"18268011178241145062.mp4"}
+{"uid":"8086452753576933117","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Place the grey pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the grey pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the grey pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move to the stapler on the table 2- pick the stapler from the table 3- Place the stapler in the top drawer 4- Close the drawer 5- pick a pen from the table 6- put the pen in the pen holder 7- pick the blue pen from the table 8- Put the pen into the holder 9- Pick up the black pen from the table 10- Place the pen into the holder 11- Touch the right pen 12- Pick up the left pen from the table 13- Drop the pen on the table 14- Pick up the bottom pen from the table 15- Move away from the holder 16- Place the orange pen in the holder 17- Uplift the grey pen from the table 18- Move the pen close to the holder 19- Release the pen on the table 20- pick the white pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the grey pen in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the grey pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move to the stapler on the table 2- pick the stapler from the table 3- Place the stapler in the top drawer 4- Close the drawer 5- pick a pen from the table 6- put the pen in the pen holder 7- pick the blue pen from the table 8- Put the pen into the holder 9- Pick up the black pen from the table 10- Place the pen into the holder 11- Touch the right pen 12- Pick up the left pen from the table 13- Drop the pen on the table 14- Pick up the bottom pen from the table 15- Move away from the holder 16- Place the orange pen in the holder 17- Uplift the grey pen from the table 18- Move the pen close to the holder 19- Release the pen on the table 20- pick the white pen from the table Q: immediate next step? \u003cPRED\u003eA: Place the grey pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the grey pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5966220097630827508.mp4"}
+{"uid":"16780226439297086410","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace  knife packet edge of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7500859885243621050.mp4"}
+{"uid":"952127651419636090","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table 19- Place the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the grey pen 2- Drop the pen on the table 3- Pick up the bottom pen from the table 4- Move away from the holder 5- Place the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the grey 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 grey 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: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the grey pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the grey pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table 19- Place the pen into the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the grey pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the grey pen\n\u003c/PRED\u003e","video":"3605680601594390422.mp4"}
+{"uid":"13603199777681973083","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown pen in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown pen in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown pen in the black holder 2- pick the blue pen from the table 3- Put the pen into the holder 4- Pick up the black pen from the table 5- Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Put the brown pen in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown pen in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table Q: immediate next step? \u003cPRED\u003eA: Put the brown pen in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown pen in the black holder\n\u003c/PRED\u003e","video":"14378358335506727546.mp4"}
+{"uid":"7136131975587501241","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":"10430034482638882999.mp4"}
+{"uid":"11772762484539858720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the strainer into the left paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17728369012227804467.mp4"}
+{"uid":"5900164904270298131","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the sticky notes 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 sticky notes from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the sticky notes from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the sticky notes from the table 2- Place the sticky notes in the table top drawer 3- move to the mouse on the table 4- Move the mouse backwards on the table 5- Lift the mouse from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the sticky notes from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10440834998373079485.mp4"}
+{"uid":"3096392238250280926","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the grey pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the grey pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7581749301240899985.mp4"}
+{"uid":"12907489273587443790","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the holder 2- Touch the right pen 3- Pick up the left pen from the table 4- Drop the pen on the table 5- Pick up the bottom pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder 18- Pick up the black pen from the table Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18335023580332862120.mp4"}
+{"uid":"14943804371811291656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nThrow in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10158258212238638183.mp4"}
+{"uid":"15671882772772738826","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put sticky notes in the organiser 6- put pen in the organiser 7- put pen in the organiser 8- put pen in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the organiser 2- move organiser to the right 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put sticky notes in the organiser 6- put pen in the organiser 7- put pen in the organiser 8- put pen in the organiser Q: immediate next step? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17212859819059751450.mp4"}
+{"uid":"17097460511509223125","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the table top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the table top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3443745833463451461.mp4"}
+{"uid":"11275209049785930845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntook out the mouse box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3774751701972908194.mp4"}
+{"uid":"14201395185918399554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16557234942529849618.mp4"}
+{"uid":"66497390403095121","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick a pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Pick a pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick a pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick a pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick a pen from the table 2- put the pen in the pen holder 3- pick the blue pen from the table 4- Put the pen into the holder 5- Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick a pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick a pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6370982157740771387.mp4"}
+{"uid":"11351700534476784835","text":"\u003ctask:success:discrete:False\u003e\nDrop the mouse in the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Drop the mouse in the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the mouse in the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the mouse in the top drawer 2- move to the stapler on the table 3- pick the stapler from the table 4- Place the stapler in the top drawer 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the mouse in the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the mouse in the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table Q: immediate next step? \u003cPRED\u003eA: Drop the mouse in the top drawer\n\u003c/PRED\u003e","video":"4650708981604339626.mp4"}
+{"uid":"6239970860079452091","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":"9778138719701611364.mp4"}
+{"uid":"5717406213954028409","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen into the holder 2- Pick up the black pen from the table 3- Place the pen into the holder 4- Touch the right pen 5- Pick up the left pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table Q: immediate next step? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e","video":"4941735705276515657.mp4"}
+{"uid":"2391882178735221734","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the stapler on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the stapler on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3517958121721087053.mp4"}
+{"uid":"3422114565132410106","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":"8458301539889749885.mp4"}
+{"uid":"4143075555201734029","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table Q: immediate next step? \u003cPRED\u003eA: Drop the mouse into the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the mouse into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the mouse into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the mouse into the drawer 2- move to the stapler on the table 3- pick the stapler from the table 4- Place the stapler in the top drawer 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the mouse into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the mouse into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Drop the mouse into the drawer\n\u003c/PRED\u003e","video":"5915133258991347618.mp4"}
+{"uid":"13185167559850090730","text":"\u003ctask:success:discrete:False\u003e\nMove the stapler to the left on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Move the stapler to the left on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer Q: immediate next step? \u003cPRED\u003eA: Move the stapler to the left on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the stapler to the left on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the stapler to the left on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 stapler to the left on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move the stapler to the left on the table 2- Place the stapler in the top drawer 3- Close the drawer 4- pick a pen from the table 5- put the pen in the pen holder\n\u003c/PRED\u003e","video":"4143970398166132344.mp4"}
+{"uid":"12810644642176214993","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Drop the grey pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the grey pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Move to the table top drawer 2- Open the table top drawer 3- Pick up the sticky notes from the table 4- Place the sticky notes in the table top drawer 5- move to the mouse on the table 6- Move the mouse backwards on the table 7- Lift the mouse from the table 8- Drop the mouse in the top drawer 9- move to the stapler on the table 10- pick the stapler from the table 11- Place the stapler in the top drawer 12- Close the drawer 13- pick a pen from the table 14- put the pen in the pen holder 15- pick the blue pen from the table 16- Put the pen into the holder 17- Pick up the black pen from the table 18- Place the pen into the holder 19- Touch the right pen 20- Pick up the left pen from the table Q: immediate next step? \u003cPRED\u003eA: Drop the grey pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the grey pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the grey pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the grey pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Move to the table top drawer 2- Open the table top drawer 3- Pick up the sticky notes from the table 4- Place the sticky notes in the table top drawer 5- move to the mouse on the table 6- Move the mouse backwards on the table 7- Lift the mouse from the table 8- Drop the mouse in the top drawer 9- move to the stapler on the table 10- pick the stapler from the table 11- Place the stapler in the top drawer 12- Close the drawer 13- pick a pen from the table 14- put the pen in the pen holder 15- pick the blue pen from the table 16- Put the pen into the holder 17- Pick up the black pen from the table 18- Place the pen into the holder 19- Touch the right pen 20- Pick up the left pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the grey pen on the table 2- Pick up the bottom pen from the table 3- Move away from the holder 4- Place the orange pen in the holder 5- Uplift the grey pen from the table\n\u003c/PRED\u003e","video":"11116098400178572022.mp4"}
+{"uid":"17276385863876338787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11380982325393099687.mp4"}
+{"uid":"880120454668222593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6941096787285317293.mp4"}
+{"uid":"1624912411814363295","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put sticky notes in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the organiser 2- put pen in the organiser 3- put pen in the organiser 4- put pen in the organiser 5- move organiser to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put sticky notes in the organiser Q: immediate next step? \u003cPRED\u003eA: put pen in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10471806934628895104.mp4"}
+{"uid":"3718140670389497527","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the gray pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRelease the gray pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13888936824317994791.mp4"}
+{"uid":"14799066747444093045","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the table top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the table top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open the table top drawer 2- Pick up the sticky notes from the table 3- Place the sticky notes in the table top drawer 4- move to the mouse on the table 5- Move the mouse backwards on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Open the table top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the table top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the table top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer Q: immediate next step? \u003cPRED\u003eA: Open the table top drawer\n\u003c/PRED\u003e","video":"5780430955563468287.mp4"}
+{"uid":"2924438663215709089","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Uplift the black pen from the table 2- Place the pen into the holder 3- Touch the right pen 4- Pick up the left pen from the table 5- Drop the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUplift the black pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Uplift the black pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Uplift the black pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Uplift the black pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUplift the black pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder Q: immediate next step? \u003cPRED\u003eA: Uplift the black pen from the table\n\u003c/PRED\u003e","video":"18246797056293536852.mp4"}
+{"uid":"5023755849032242161","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the stapler from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the stapler from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the stapler from the table 2- Place the stapler in the top drawer 3- Close the drawer 4- pick a pen from the table 5- put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the stapler from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the stapler from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the stapler from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the stapler from the table\n\u003c/PRED\u003e","video":"8973229200134604603.mp4"}
+{"uid":"4558196535153093935","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace brown chip packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6203252464860525850.mp4"}
+{"uid":"3849709577043587062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16940750142788213579.mp4"}
+{"uid":"15191891296895955976","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":"417589408530438063.mp4"}
+{"uid":"2725202190315176706","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put sticky notes in the organiser 6- put pen in the organiser 7- put pen in the organiser 8- put pen in the organiser 9- put pen in the organiser 10- move organiser to the right Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move organiser to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove organiser to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I knocked over the supplies on my desk, can you please reorganize it for me?. last 20 steps: 1- put the organiser upright on the table 2- put sticky notes in the organiser 3- put sticky notes in the organiser 4- put sticky notes in the organiser 5- put sticky notes in the organiser 6- put pen in the organiser 7- put pen in the organiser 8- put pen in the organiser 9- put pen in the organiser 10- move organiser to the right Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2292474609116688616.mp4"}
+{"uid":"2124071102571778850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"206336653144784707.mp4"}
+{"uid":"9970475915713614253","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13716427682494326992.mp4"}
+{"uid":"4338162421073656723","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white box into the cardboard box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10028298352045802147.mp4"}
+{"uid":"6252305740562469077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"934159380568254809.mp4"}
+{"uid":"6396435400729711710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1382121775032298824.mp4"}
+{"uid":"159163320782225213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8881093498616847770.mp4"}
+{"uid":"4548946271858778330","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"808926942405643227.mp4"}
+{"uid":"8205501739416442108","text":"\u003ctask:success:discrete:True\u003e\nMove the mouse backwards on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the mouse backwards on the table\n\u003c/PRED\u003e","video":"2584677239997734038.mp4"}
+{"uid":"2105994002568540131","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the mouse from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the mouse from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the mouse from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: pick the mouse from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table Q: immediate next step? \u003cPRED\u003eA: pick the mouse from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the mouse from the table 2- move to the stapler on the table 3- pick the stapler from the table 4- Place the stapler in the top drawer 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the mouse from the table\n\u003c/PRED\u003e","video":"6919945169511429910.mp4"}
+{"uid":"376651305738181597","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the table top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the table top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6364111246016647972.mp4"}
+{"uid":"13229671448195244098","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sticky notes in the table top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the sticky notes in the table top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2725066244462037454.mp4"}
+{"uid":"16460044212579639907","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Pick up the sticky notes from the table 2- Place the sticky notes in the table top drawer 3- move to the mouse on the table 4- Move the mouse backwards on the table 5- Lift the mouse from the table 6- Drop the mouse in the top drawer 7- move to the stapler on the table 8- pick the stapler from the table 9- Place the stapler in the top drawer 10- Close the drawer 11- pick a pen from the table 12- put the pen in the pen holder 13- pick the blue pen from the table 14- Put the pen into the holder 15- Pick up the black pen from the table 16- Place the pen into the holder 17- Touch the right pen 18- Pick up the left pen from the table 19- Drop the pen on the table 20- Pick up the bottom pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the pen holder 2- Uplift the grey pen from the table 3- Move the pen close to the holder 4- Release the pen on the table 5- pick the white pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Pick up the sticky notes from the table 2- Place the sticky notes in the table top drawer 3- move to the mouse on the table 4- Move the mouse backwards on the table 5- Lift the mouse from the table 6- Drop the mouse in the top drawer 7- move to the stapler on the table 8- pick the stapler from the table 9- Place the stapler in the top drawer 10- Close the drawer 11- pick a pen from the table 12- put the pen in the pen holder 13- pick the blue pen from the table 14- Put the pen into the holder 15- Pick up the black pen from the table 16- Place the pen into the holder 17- Touch the right pen 18- Pick up the left pen from the table 19- Drop the pen on the table 20- Pick up the bottom pen from the table Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"10369682691869269920.mp4"}
+{"uid":"3586425916645243527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen 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":"4368483463437323589.mp4"}
+{"uid":"12445012198704280960","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the white pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Place the sticky notes in the table top drawer 2- move to the mouse on the table 3- Move the mouse backwards on the table 4- Lift the mouse from the table 5- Drop the mouse in the top drawer 6- move to the stapler on the table 7- pick the stapler from the table 8- Place the stapler in the top drawer 9- Close the drawer 10- pick a pen from the table 11- put the pen in the pen holder 12- pick the blue pen from the table 13- Put the pen into the holder 14- Pick up the black pen from the table 15- Place the pen into the holder 16- Touch the right pen 17- Pick up the left pen from the table 18- Drop the pen on the table 19- Pick up the bottom pen from the table 20- Move away from the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the white pen from the table 2- Release the pen on the table 3- pick the white pen from the table 4- drop the white pen in the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Place the sticky notes in the table top drawer 2- move to the mouse on the table 3- Move the mouse backwards on the table 4- Lift the mouse from the table 5- Drop the mouse in the top drawer 6- move to the stapler on the table 7- pick the stapler from the table 8- Place the stapler in the top drawer 9- Close the drawer 10- pick a pen from the table 11- put the pen in the pen holder 12- pick the blue pen from the table 13- Put the pen into the holder 14- Pick up the black pen from the table 15- Place the pen into the holder 16- Touch the right pen 17- Pick up the left pen from the table 18- Drop the pen on the table 19- Pick up the bottom pen from the table 20- Move away from the holder Q: immediate next step? \u003cPRED\u003eA: pick the white pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the white pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1566346220192153944.mp4"}
+{"uid":"5267600649257804689","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4659370708901136630.mp4"}
+{"uid":"5898476660335301374","text":"\u003ctask:success:discrete:True\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"13262601919913103150.mp4"}
+{"uid":"11363540526979331923","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace holder to the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12556447279474388171.mp4"}
+{"uid":"15043622498190309437","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the brown pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the brown pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the brown pen from the table 2- put the pen in the pen holder 3- pick the blue pen from the table 4- Put the pen into the holder 5- Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the brown pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Lift the brown pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the brown pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Lift the brown pen from the table\n\u003c/PRED\u003e","video":"3873930532097094250.mp4"}
+{"uid":"15926476635108880645","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen into the holder 2- Put the pen into the holder 3- Pick up the black pen from the table 4- Place the pen into the holder 5- Touch the right pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table Q: immediate next step? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e","video":"5220064083427785341.mp4"}
+{"uid":"7276991917807156709","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10122636366270128914.mp4"}
+{"uid":"7620462714255147423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the green 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":"17814037359312392228.mp4"}
+{"uid":"3275689461121798159","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue pen 2- Put the pen into the holder 3- Pick up the black pen from the table 4- Place the pen into the holder 5- Touch the right pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6829238068069827351.mp4"}
+{"uid":"1775755712715553643","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky notes in the table top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes in the table top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky notes in the table top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky notes in the table top drawer 2- Move the mouse backwards on the table 3- Lift the mouse from the table 4- Drop the mouse in the top drawer 5- move to the stapler on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sticky notes in the table top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky notes in the table top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes in the table top drawer\n\u003c/PRED\u003e","video":"7760482581745839811.mp4"}
+{"uid":"2239374380636830184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the choco ball in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3515994175119630303.mp4"}
+{"uid":"15624283113090873243","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black pen from the table 2- Place the pen into the holder 3- Touch the right pen 4- Pick up the left pen from the table 5- Drop the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table 11- pick the stapler from the table 12- Place the stapler in the top drawer 13- Close the drawer 14- pick a pen from the table 15- put the pen in the pen holder 16- pick the blue pen from the table 17- Put the pen into the holder Q: immediate next step? \u003cPRED\u003eA: pick the black pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: pick the black pen from the table\n\u003c/PRED\u003e","video":"12884710989779850512.mp4"}
+{"uid":"1579659052832316126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9975511941061029631.mp4"}
+{"uid":"2065186070347973903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17223296303964661519.mp4"}
+{"uid":"7010247817664726809","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the stapler from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the stapler 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 stapler from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the stapler from the table 2- Place the stapler in the top drawer 3- Close the drawer 4- pick a pen from the table 5- put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the stapler from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table 8- Lift the mouse from the table 9- Drop the mouse in the top drawer 10- move to the stapler on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the stapler from the table\n\u003c/PRED\u003e","video":"16756887462767253903.mp4"}
+{"uid":"13612920047182990337","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace th packet on the other table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14620797199680060314.mp4"}
+{"uid":"1354783892073252644","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the mouse 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 mouse from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the mouse from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the mouse from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the mouse from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the mouse from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- move away from the table 2- Move to the table top drawer 3- Open the table top drawer 4- Pick up the sticky notes from the table 5- Place the sticky notes in the table top drawer 6- move to the mouse on the table 7- Move the mouse backwards on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the mouse from the table 2- move to the stapler on the table 3- pick the stapler from the table 4- Place the stapler in the top drawer 5- Close the drawer\n\u003c/PRED\u003e","video":"9699467219797744276.mp4"}
+{"uid":"12953472918269979217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1675156543859159085.mp4"}
+{"uid":"3453277522389804829","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move forward to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove forward to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13907239578034994880.mp4"}
+{"uid":"6129966729357734549","text":"\u003ctask:success:discrete:False\u003e\nDrop the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Move to the table top drawer 2- Open the table top drawer 3- Pick up the sticky notes from the table 4- Place the sticky notes in the table top drawer 5- move to the mouse on the table 6- Move the mouse backwards on the table 7- Lift the mouse from the table 8- Drop the mouse in the top drawer 9- move to the stapler on the table 10- pick the stapler from the table 11- Place the stapler in the top drawer 12- Close the drawer 13- pick a pen from the table 14- put the pen in the pen holder 15- pick the blue pen from the table 16- Put the pen into the holder 17- Pick up the black pen from the table 18- Place the pen into the holder 19- Touch the right pen 20- Pick up the left pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen on the table 2- Pick up the bottom pen from the table 3- Move away from the holder 4- Place the orange pen in the holder 5- Uplift the grey pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk Q: immediate next step? \u003cPRED\u003eA: Drop the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: help me tidy my desk by putting the pens in the cup and everything else in the cabinet under my desk. last 20 steps: 1- Move to the table top drawer 2- Open the table top drawer 3- Pick up the sticky notes from the table 4- Place the sticky notes in the table top drawer 5- move to the mouse on the table 6- Move the mouse backwards on the table 7- Lift the mouse from the table 8- Drop the mouse in the top drawer 9- move to the stapler on the table 10- pick the stapler from the table 11- Place the stapler in the top drawer 12- Close the drawer 13- pick a pen from the table 14- put the pen in the pen holder 15- pick the blue pen from the table 16- Put the pen into the holder 17- Pick up the black pen from the table 18- Place the pen into the holder 19- Touch the right pen 20- Pick up the left pen from the table Q: immediate next step? \u003cPRED\u003eA: Drop the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen on the table\n\u003c/PRED\u003e","video":"15401511984145754468.mp4"}
+{"uid":"4437464753553022859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6602091903885177059.mp4"}
+{"uid":"13798959170027572069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a paper clip Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14403322297411819026.mp4"}
+{"uid":"630071257403558633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14629308043565429676.mp4"}
+{"uid":"10577342295798905418","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"18064384160796408674.mp4"}
+{"uid":"16765386245293685535","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17839087727889320560.mp4"}
+{"uid":"5921888453277204927","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the pen in the holder 7- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the pen in the holder 7- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"15047023594823640747.mp4"}
+{"uid":"16599250099508052687","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the bowl in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10435166395692037580.mp4"}
+{"uid":"13273993053556727625","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange lid on top of 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: Arrange lid on top of container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange lid on top of 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 fish into table top bin and close it with the lid Q: immediate next step? \u003cPRED\u003eA: Arrange lid on top of container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box 3- place the  lid on top of container Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange lid on top of container 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange lid on top of container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box 3- place the  lid on top of container Q: immediate next step? \u003cPRED\u003eA: Arrange lid on top of container\n\u003c/PRED\u003e","video":"8623552793754285610.mp4"}
+{"uid":"6395477510752869150","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pen in the holder 9- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pen in the holder 9- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- done\n\u003c/PRED\u003e","video":"11056079417608272234.mp4"}
+{"uid":"4080932578477621917","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fish in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fish in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1439002192955116680.mp4"}
+{"uid":"16267042173023032506","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lead on the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid Q: immediate next step? \u003cPRED\u003eA: place the lead on the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lead on the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lead on the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the lead on the box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box Q: immediate next step? \u003cPRED\u003eA: place the lead on the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lead on the box\n\u003c/PRED\u003e","video":"6902695800915722538.mp4"}
+{"uid":"9203055247629896624","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"12489679404553672772.mp4"}
+{"uid":"5367414932991616452","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the swedish fish bag in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4453200356409226466.mp4"}
+{"uid":"5564274298210248797","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box 3- place lid on a box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box 3- place lid on a box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace lid on a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place lid on a box\n\u003c/PRED\u003e","video":"14392595925586685507.mp4"}
+{"uid":"9355085710648116979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop tin into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6905831948378932298.mp4"}
+{"uid":"16329425147650534978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7794791202164318457.mp4"}
+{"uid":"17533323806305251134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10742827433766195720.mp4"}
+{"uid":"13461761407780322632","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"4465465521702712535.mp4"}
+{"uid":"1192841705686346542","text":"\u003ctask:success:discrete:False\u003e\nPut the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder 5- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder 5- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"9440258792843690215.mp4"}
+{"uid":"13007608843902786138","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"13646145311306419879.mp4"}
+{"uid":"8583080263224806165","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box Q: immediate next step? \u003cPRED\u003eA: place lid on a box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace lid on a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 lid on a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place lid on a box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid Q: immediate next step? \u003cPRED\u003eA: place lid on a box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place lid on a box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place lid on a box\n\u003c/PRED\u003e","video":"17463876992799138195.mp4"}
+{"uid":"14972617820972851885","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl 6- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- arrange the apple 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl 6- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"13987816538764741923.mp4"}
+{"uid":"15495819500026703949","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the lead in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the lead in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10420658517298907146.mp4"}
+{"uid":"1455688101719811770","text":"\u003ctask:success:discrete:True\u003e\nplace the fish 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 fish in the container\n\u003c/PRED\u003e","video":"3086018367735739474.mp4"}
+{"uid":"12969802840990637628","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container Q: immediate next step? \u003cPRED\u003eA: drop lid in a box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop lid in a box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container Q: next 5 steps? \u003cPRED\u003eA: 1- drop lid in a box 2- place the  lid on top of container 3- Arrange lid on top of container 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop lid in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 fish into table top bin and close it with the lid Q: immediate next step? \u003cPRED\u003eA: drop lid in a box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop lid in a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 lid in a box\n\u003c/PRED\u003e","video":"96015154545157149.mp4"}
+{"uid":"9601104529547928907","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"1196749296716211267.mp4"}
+{"uid":"4891490284615830056","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid in the container 2- place the  lid on top of container 3- Arrange lid on top of container 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid 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 lid in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container Q: immediate next step? \u003cPRED\u003eA: place the lid in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid 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 fish into table top bin and close it with the lid Q: immediate next step? \u003cPRED\u003eA: place the lid in the container\n\u003c/PRED\u003e","video":"4101554185106564057.mp4"}
+{"uid":"5587223096389546291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17338821722214782306.mp4"}
+{"uid":"5884414444421126286","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bottle in the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12724034216856353037.mp4"}
+{"uid":"6651298255252137672","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11716084608772897467.mp4"}
+{"uid":"7060998543642718889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11354919573493548935.mp4"}
+{"uid":"7441936216939759784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"341839817757212108.mp4"}
+{"uid":"15175440932025845152","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":"16960256146763508.mp4"}
+{"uid":"137015896880173053","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"10963364909848526014.mp4"}
+{"uid":"1517982547095132663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange peel in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9970118998493306842.mp4"}
+{"uid":"11851767658396434538","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"18276578217477478618.mp4"}
+{"uid":"8375613026350920674","text":"\u003ctask:success:discrete:False\u003e\nplace the  lid on top of 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 fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box Q: immediate next step? \u003cPRED\u003eA: place the  lid on top of container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the  lid on top of container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the  lid on top of container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid Q: immediate next step? \u003cPRED\u003eA: place the  lid on top of container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the  lid on top of 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 fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the  lid on top of container 2- Arrange lid on top of container 3- done\n\u003c/PRED\u003e","video":"11465407118567123654.mp4"}
+{"uid":"15221026544913736463","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop fish in a box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid Q: immediate next step? \u003cPRED\u003eA: drop fish in a box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop fish in a box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the fish in the box 2- put the lead in the box 3- place the  lid on top of container 4- Arrange lid on top of container 5- done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop fish in a box 2- put the lead in the box 3- place the  lid on top of container 4- Arrange lid on top of container 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the fish in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop fish in a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 fish in a box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fish in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fish in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop fish in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fish in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fish in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid Q: immediate next step? \u003cPRED\u003eA: put the fish in the box\n\u003c/PRED\u003e","video":"8847504126302303733.mp4"}
+{"uid":"5912944161217084310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red 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":"31001309369555416.mp4"}
+{"uid":"1090569610247313326","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lid in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11985448341086072684.mp4"}
+{"uid":"11982046695598252884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14795204392405044008.mp4"}
+{"uid":"8092283107387204088","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11871738881394956862.mp4"}
+{"uid":"8460630068689767369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6265346699125240037.mp4"}
+{"uid":"14201751304765962206","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- arrange the apple\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"18030537547371652153.mp4"}
+{"uid":"14505343939250005793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14298811484008780957.mp4"}
+{"uid":"8068133570717322762","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"5897477699781405897.mp4"}
+{"uid":"33505073925995093","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- arrange the apple 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"17378197508247973274.mp4"}
+{"uid":"1113985988102148881","text":"\u003ctask:success:discrete:True\u003e\nArrange lid on top of container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box 3- place the  lid on top of container 4- Arrange lid on top of container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box 3- place the  lid on top of container 4- Arrange lid on top of container Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange lid on top of container\n\u003c/PRED\u003e","video":"5934891422461640561.mp4"}
+{"uid":"9314461738666044684","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":"14269427764859878743.mp4"}
+{"uid":"15924888164096492593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon 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\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2731324878251022895.mp4"}
+{"uid":"17356498955361814353","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the notebook 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":"14203062192372539106.mp4"}
+{"uid":"16816295962438648397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red pens in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2305368249348730692.mp4"}
+{"uid":"15976766619815204977","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"10301604135782508728.mp4"}
+{"uid":"16851059356286237687","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop fish in a box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop fish in a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6365540347804707568.mp4"}
+{"uid":"4028246772160615233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11274025088429942182.mp4"}
+{"uid":"8607992854823819478","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the lead in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container Q: immediate next step? \u003cPRED\u003eA: put the lead in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lead in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put the lead in the box 2- place the  lid on top of container 3- Arrange lid on top of container 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the lead in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid Q: immediate next step? \u003cPRED\u003eA: put the lead in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the lead in the box\n\u003c/PRED\u003e","video":"6375840236559256215.mp4"}
+{"uid":"6753529384262715473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8679258550505988124.mp4"}
+{"uid":"12279830778706803475","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"3392821081652375312.mp4"}
+{"uid":"16609588914527918954","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the apple\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl 6- place the apple in the bowl 7- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the apple 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: arrange the apple\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the apple\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl 6- place the apple in the bowl 7- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: arrange the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10369411209662799643.mp4"}
+{"uid":"4504401646148743831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6842946296138497774.mp4"}
+{"uid":"15416345427137414300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sugar packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12188937120838005309.mp4"}
+{"uid":"8861146840955422421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue pen in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4688429926638208933.mp4"}
+{"uid":"12929560627782353390","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- arrange the apple 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"14548685486535451872.mp4"}
+{"uid":"12257044938963008710","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2114674963963395721.mp4"}
+{"uid":"12518513359910471636","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop lid in a box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop lid in a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14060801756317228596.mp4"}
+{"uid":"6098313874159385484","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pen in the holder 9- Put the pen in the holder 10- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the pen in the holder 7- Put the pen in the holder 8- Put the pen in the holder 9- Put the pen in the holder 10- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- done\n\u003c/PRED\u003e","video":"3825313106638181893.mp4"}
+{"uid":"10591068570941736295","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"3832317388264842588.mp4"}
+{"uid":"14921434145761795713","text":"\u003ctask:success:discrete:True\u003e\nplace the lead on the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box 3- place the lead on the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fish into table top bin and close it with the lid. last 20 steps: 1- place the fish in the container 2- put the lead in the box 3- place the lead on the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lead on the box\n\u003c/PRED\u003e","video":"10077932998667668388.mp4"}
+{"uid":"5742186741760362752","text":"\u003ctask:success:discrete:True\u003e\nplace the  lid on top of 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  lid on top of container\n\u003c/PRED\u003e","video":"11738161540506162434.mp4"}
+{"uid":"8995102703938714553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"6658004272975367444.mp4"}