diff --git "a/json/train/data-00009-of-00160.json" "b/json/train/data-00009-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00009-of-00160.json"
@@ -0,0 +1,407 @@
+{"uid":"17656591631102102851","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7302429659465494942.mp4"}
+{"uid":"7367072053537914756","text":"\u003ctask:success:discrete:True\u003e\nPlace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e","video":"11324774401847056723.mp4"}
+{"uid":"2932116583382965361","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e","video":"4163162685105519977.mp4"}
+{"uid":"15639512884434040529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWrite on the board O Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13542285717961198244.mp4"}
+{"uid":"1562556823875618142","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e","video":"11934758828215197636.mp4"}
+{"uid":"17286454158957510872","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e","video":"14278607176974929644.mp4"}
+{"uid":"3373838235564432889","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13829000894324246166.mp4"}
+{"uid":"10732784308302088602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13416746468454982241.mp4"}
+{"uid":"15550837333064208943","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"15554244431453920751.mp4"}
+{"uid":"5738838608986823859","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- done\n\u003c/PRED\u003e","video":"2498845422130966139.mp4"}
+{"uid":"17269030607492424539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"91752018479232165.mp4"}
+{"uid":"6463272341171620449","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"6637371912065027354.mp4"}
+{"uid":"2402300027793213920","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":"7923443426643992252.mp4"}
+{"uid":"1443058948345194974","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e","video":"13664624420217557472.mp4"}
+{"uid":"12857544782208884082","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e","video":"856738773494244750.mp4"}
+{"uid":"10668299398304865195","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e","video":"4540302544482731875.mp4"}
+{"uid":"3877210777067143454","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e","video":"4425452543562978904.mp4"}
+{"uid":"16549349424790732322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6302747292999062198.mp4"}
+{"uid":"17332874796173422243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards 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":"16858507728801201924.mp4"}
+{"uid":"5399821324184073187","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a corn put it 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":"6813261317694832905.mp4"}
+{"uid":"14180143125542753630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the pink toy from the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"504189271270636376.mp4"}
+{"uid":"6153293347827001011","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl 6- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- Place the banana in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl 6- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11421349447793108993.mp4"}
+{"uid":"7868318279538632432","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e","video":"337033473979035085.mp4"}
+{"uid":"7668823572019609664","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18023062231894476964.mp4"}
+{"uid":"14986178045144852032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the banana 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":"3215318124193263232.mp4"}
+{"uid":"13708198210080650664","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":"1505942712193713433.mp4"}
+{"uid":"10887724214747235192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink 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":"10531286776772298399.mp4"}
+{"uid":"13550388306656502208","text":"\u003ctask:success:discrete:True\u003e\nput paper in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put paper in the bowl\n\u003c/PRED\u003e","video":"15637935904764890170.mp4"}
+{"uid":"4938058546714192144","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl 6- Place the banana in the bowl 7- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl 6- Place the banana in the bowl 7- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15846205569491735544.mp4"}
+{"uid":"7725596582888573653","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHold 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":"8857271211396367824.mp4"}
+{"uid":"14756011944323870629","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace blue chip packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5984054430223919605.mp4"}
+{"uid":"15061760403015324245","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tissue paper in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tissue paper in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9222513098803932949.mp4"}
+{"uid":"14491609396520740017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass on the desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5915019786270442267.mp4"}
+{"uid":"10507977636222649638","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":"4400538871967505331.mp4"}
+{"uid":"6540020172269303533","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":"7081136264570988656.mp4"}
+{"uid":"11450489189546686112","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl 6- Place the banana in the bowl 7- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl 6- Place the banana in the bowl 7- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10627737789730443224.mp4"}
+{"uid":"3794411238902943206","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":"3886578580445977756.mp4"}
+{"uid":"4818905522531374258","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl 6- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl 6- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana in the bowl 2- Place the banana in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2270179457389664102.mp4"}
+{"uid":"1963400247496844857","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4267563983903101406.mp4"}
+{"uid":"1832506878782553414","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16887061800589562185.mp4"}
+{"uid":"14079098678519913355","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put paper in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: put paper in the bowl\n\u003c/PRED\u003e","video":"13673838040585722098.mp4"}
+{"uid":"316775434665497126","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the paper in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Place the paper in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the paper in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the paper in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the paper in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the paper in the bowl\n\u003c/PRED\u003e","video":"1732835015870091347.mp4"}
+{"uid":"12325383683967347577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar pouch 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":"7742128203906275494.mp4"}
+{"uid":"4009600672087860621","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- Place the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e","video":"3769343338378548468.mp4"}
+{"uid":"14346885022935483852","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl 6- Place the banana in the bowl 7- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl 6- Place the banana in the bowl 7- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- done\n\u003c/PRED\u003e","video":"8250988745443392903.mp4"}
+{"uid":"8662696120562355224","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue paper in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the tissue paper in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tissue paper in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the tissue paper in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue paper in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue paper in the bowl\n\u003c/PRED\u003e","video":"5093973544956379197.mp4"}
+{"uid":"14755947934485921210","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl 6- Place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the bananas into the bowl. last 20 steps: 1- Place the paper in the bowl 2- Put the banana in the bowl 3- Place the banana in the bowl 4- Place the banana in the bowl 5- Place the banana in the bowl 6- Place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- Place the banana in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the bananas into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12484818369105925482.mp4"}
+{"uid":"15320795824553004234","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9926503898158942584.mp4"}
+{"uid":"6322844603878248854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange packet in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14888270738688350127.mp4"}
+{"uid":"8689011808421330868","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the brush from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"558768223019618750.mp4"}
+{"uid":"6742184133479688409","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":"815332499693343142.mp4"}
+{"uid":"3011328623838655575","text":"\u003ctask:success:discrete:True\u003e\nPlace the paper in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the paper in the bowl\n\u003c/PRED\u003e","video":"12575066223728805302.mp4"}
+{"uid":"5139692666125145324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15087778981862145807.mp4"}
+{"uid":"2127066650923234974","text":"\u003ctask:success:discrete:False\u003e\nFold left sleeve Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFold left sleeve Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Fold left sleeve\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: Fold left sleeve\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fold left sleeve\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fold left sleeve\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Fold left sleeve 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward 4- Fold the right waist portion upward 5- done\n\u003c/PRED\u003e","video":"16633249683547407721.mp4"}
+{"uid":"11991076099797888964","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt Q: immediate next step? \u003cPRED\u003eA: Fold the left corner of the t-shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fold the left corner of the t-shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- Fold the left corner of the t-shirt 2- Fold the right waist portion upward 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFold the left corner of the t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fold the left corner of the t-shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFold the left corner of the t-shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: Fold the left corner of the t-shirt\n\u003c/PRED\u003e","video":"4198458988546443917.mp4"}
+{"uid":"18292206488314685480","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":"1001266636871162990.mp4"}
+{"uid":"11605505346761605538","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the pen in the pen stand 3- put the page  clip holder in the pen stand 4- put the book in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"4237518790209857559.mp4"}
+{"uid":"12735880709998249544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16421961163096900971.mp4"}
+{"uid":"5679326872109798674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15187989384634334118.mp4"}
+{"uid":"3699644467566388756","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fold the right sleeves\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nFold the right sleeves Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12022220685224164887.mp4"}
+{"uid":"7420450962442990358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9351892313208756349.mp4"}
+{"uid":"9991478081449006447","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand 6- put the page  clip holder in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: put the book in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand 6- put the page  clip holder in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the book in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the book in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the book in the pen stand\n\u003c/PRED\u003e","video":"9820179784878379412.mp4"}
+{"uid":"5896174582276359268","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the pen in the pen stand 3- put the page  clip holder in the pen stand 4- put the book in the pen stand 5- done\n\u003c/PRED\u003e","video":"6872245818528196475.mp4"}
+{"uid":"10874348525741395702","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen to put it in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen to put it in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen to put it in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen to put it in the stand 2- put the pen in the pen stand 3- put the page  clip holder in the pen stand 4- put the book in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: pick the pen to put it in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder Q: immediate next step? \u003cPRED\u003eA: pick the pen to put it in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen to put it in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9916081820113254038.mp4"}
+{"uid":"3859607603404937598","text":"\u003ctask:success:discrete:True\u003e\nPlace the marker into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the marker into the holder\n\u003c/PRED\u003e","video":"10274044065774448592.mp4"}
+{"uid":"15676294471683531736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15027668891663907981.mp4"}
+{"uid":"4588631110437029811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12657555437817973380.mp4"}
+{"uid":"14486344726548586320","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the clip into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the clip into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13601277487125840126.mp4"}
+{"uid":"7175362425335501288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12652768389284031467.mp4"}
+{"uid":"16362277553128120145","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen 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":"262486789181572385.mp4"}
+{"uid":"1759145032863233593","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand 6- put the page  clip holder in the pen stand 7- put the book in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the book in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand 6- put the page  clip holder in the pen stand 7- put the book in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the book 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":"17145998180910987276.mp4"}
+{"uid":"4665008964479165984","text":"\u003ctask:success:discrete:True\u003e\nPut the Blue marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the Blue marker in the stand\n\u003c/PRED\u003e","video":"1098933231405489695.mp4"}
+{"uid":"171265316190694699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1511989468110466673.mp4"}
+{"uid":"594081142334168236","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the page  clip holder in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the page  clip holder in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the page  clip holder in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the page  clip holder in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: put the page  clip holder in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the page  clip holder in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the page  clip holder in the pen stand 2- put the book in the pen stand 3- done\n\u003c/PRED\u003e","video":"5259300550072364856.mp4"}
+{"uid":"3737766951641778325","text":"\u003ctask:success:discrete:True\u003e\npick the pen to put it in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen to put it in the stand\n\u003c/PRED\u003e","video":"16589151188240231598.mp4"}
+{"uid":"6647400036068713395","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the marker into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the marker into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the marker into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder Q: immediate next step? \u003cPRED\u003eA: Place the marker into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: Place the marker into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the marker into the holder 2- Place the pen into the holder 3- Place the pen into the holder 4- put the pen in the pen stand 5- put the page  clip holder in the pen stand\n\u003c/PRED\u003e","video":"17935446578489059595.mp4"}
+{"uid":"13227725419695082366","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fold the left corner of the t-shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nFold the left corner of the t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5540039013445941669.mp4"}
+{"uid":"15296766237427563254","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fold bottom of t-shirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: Fold bottom of t-shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- Fold bottom of t-shirt 2- Fold the right waist portion upward 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFold bottom of t-shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt Q: immediate next step? \u003cPRED\u003eA: Fold bottom of t-shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fold bottom of t-shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFold bottom of t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"134235346407869147.mp4"}
+{"uid":"13398129204386144661","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the page  clip holder in the pen stand 3- put the book in the pen stand 4- done\n\u003c/PRED\u003e","video":"7893726610829061679.mp4"}
+{"uid":"1994092525672040783","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward 4- Fold the right waist portion upward Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nFold the right waist portion upward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fold the right waist portion upward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward 4- Fold the right waist portion upward Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7705123412253692380.mp4"}
+{"uid":"4008284840677017162","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16162605338303676754.mp4"}
+{"uid":"82226296651911399","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder Q: immediate next step? \u003cPRED\u003eA: Put the orange marker in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange marker in the stand 2- Place the pen into the holder 3- Place the pen into the holder 4- put the pen in the pen stand 5- put the page  clip holder in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: Put the orange marker in the stand\n\u003c/PRED\u003e","video":"9573599489383247924.mp4"}
+{"uid":"11746558011105312704","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\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","video":"14064737109326595779.mp4"}
+{"uid":"17849127957489234831","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"4285925747221021235.mp4"}
+{"uid":"11659629144340092648","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- Place the pen into the holder 3- Place the pen into the holder 4- put the pen in the pen stand 5- put the page  clip holder in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"865883796029639390.mp4"}
+{"uid":"17283438486175088981","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: Fold the right sleeves\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFold the right sleeves Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt Q: immediate next step? \u003cPRED\u003eA: Fold the right sleeves\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- Fold the right sleeves 2- fold the left waist portion upward 3- Fold the right waist portion upward 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fold the right sleeves\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fold the right sleeves\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFold the right sleeves Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2756760317195704589.mp4"}
+{"uid":"4509130292537934348","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fold right sleeve\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nFold right sleeve Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6916063779134941942.mp4"}
+{"uid":"15753682470818467844","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fold the left sleeve of t-shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nfold the left sleeve of t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1214584512066997951.mp4"}
+{"uid":"9077290030425314548","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6618178746870693055.mp4"}
+{"uid":"5682850184861834651","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the marker into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the marker into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the marker into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the marker into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the marker into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: Place the marker into the holder\n\u003c/PRED\u003e","video":"9809158921107681469.mp4"}
+{"uid":"5941060161714152287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut candy 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":"9465084392735600494.mp4"}
+{"uid":"14890289948213352116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2833406790692309566.mp4"}
+{"uid":"9872311801568424244","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward Q: immediate next step? \u003cPRED\u003eA: Fold the right waist portion upward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fold the right waist portion upward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward Q: next 5 steps? \u003cPRED\u003eA: 1- Fold the right waist portion upward 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFold the right waist portion upward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fold the right waist portion upward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: Fold the right waist portion upward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFold the right waist portion upward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"60282280956154805.mp4"}
+{"uid":"8001469260142584331","text":"\u003ctask:success:discrete:False\u003e\nfold the right sleeve of t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fold the right sleeve of t-shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfold the right sleeve of t-shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- fold the right sleeve of t-shirt 2- fold the left waist portion upward 3- Fold the right waist portion upward 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt Q: immediate next step? \u003cPRED\u003eA: fold the right sleeve of t-shirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: fold the right sleeve of t-shirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fold the right sleeve of t-shirt\n\u003c/PRED\u003e","video":"17758845368952974429.mp4"}
+{"uid":"13669574690724004075","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the clip in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the clip in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: Place the clip in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: Place the clip in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the clip in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the clip in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the clip in the stand 2- put the book in the pen stand 3- done\n\u003c/PRED\u003e","video":"13993548678516755983.mp4"}
+{"uid":"5765370435067316750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the white 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":"3290286266433820006.mp4"}
+{"uid":"8485977976588180961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper bowl into the left trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12708639932523195969.mp4"}
+{"uid":"6378744491669667839","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fold the right sleeve of t-shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nfold the right sleeve of t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4503898707686566597.mp4"}
+{"uid":"6651037475873288818","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in the right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13109036909217307745.mp4"}
+{"uid":"15120659411349373704","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fold the left sleeve of t-shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfold the left sleeve of t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fold the left sleeve of t-shirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: fold the left sleeve of t-shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward 4- Fold the right waist portion upward 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: fold the left sleeve of t-shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfold the left sleeve of t-shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2152702916210534855.mp4"}
+{"uid":"10097691044154188068","text":"\u003ctask:success:discrete:True\u003e\nFold bottom of t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fold bottom of t-shirt\n\u003c/PRED\u003e","video":"10981516359771215154.mp4"}
+{"uid":"12866743622409272531","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- Place the pen into the holder 3- Place the pen into the holder 4- put the pen in the pen stand 5- put the page  clip holder in the pen stand\n\u003c/PRED\u003e","video":"5651944835365541335.mp4"}
+{"uid":"14895614516749756034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1982782647069565516.mp4"}
+{"uid":"5225532670587314411","text":"\u003ctask:success:discrete:True\u003e\nfold the left waist portion upward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fold the left waist portion upward\n\u003c/PRED\u003e","video":"1454394980801649935.mp4"}
+{"uid":"18215540619762018540","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand 6- put the page  clip holder in the pen stand Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky notes 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: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand 6- put the page  clip holder in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky notes into the holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sticky notes into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky notes into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky notes into the holder\n\u003c/PRED\u003e","video":"728737299985337508.mp4"}
+{"uid":"14123169943540944809","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pistachio nut in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6994283203008913618.mp4"}
+{"uid":"13339503849171671317","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":"18212571056559476641.mp4"}
+{"uid":"17288995114054342644","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fold the left waist portion upward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt Q: immediate next step? \u003cPRED\u003eA: fold the left waist portion upward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfold the left waist portion upward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- fold the left waist portion upward 2- Fold the right waist portion upward 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfold the left waist portion upward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: fold the left waist portion upward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fold the left waist portion upward\n\u003c/PRED\u003e","video":"13140153643658726263.mp4"}
+{"uid":"11723830209887508458","text":"\u003ctask:success:discrete:True\u003e\nPlace the clip in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the clip in the stand\n\u003c/PRED\u003e","video":"15350275914839422530.mp4"}
+{"uid":"6881984414394088368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11165520170098803358.mp4"}
+{"uid":"16545317305436241122","text":"\u003ctask:success:discrete:True\u003e\nPut the orange marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange marker in the stand\n\u003c/PRED\u003e","video":"11469488514532285465.mp4"}
+{"uid":"12074185374086222499","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":"10003770681654978395.mp4"}
+{"uid":"8432642813834476251","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the Blue marker in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: Put the Blue marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the Blue marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the Blue marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the Blue marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the Blue marker in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the Blue marker in the stand 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand\n\u003c/PRED\u003e","video":"14072933309537555781.mp4"}
+{"uid":"3786111129501791167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17686975389720497787.mp4"}
+{"uid":"5569022897198105553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the apple on the a\nfloor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13614298552280574399.mp4"}
+{"uid":"13224561575510982696","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the marker into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the marker into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4715918352560886348.mp4"}
+{"uid":"2493635201348154809","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\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","video":"17513955500848383606.mp4"}
+{"uid":"14873522147239557062","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the stand 2- Place the pen into the holder 3- put the pen in the pen stand 4- put the page  clip holder in the pen stand 5- put the book in the pen stand\n\u003c/PRED\u003e","video":"2969924366661526034.mp4"}
+{"uid":"9707264564558952694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3680380536753445992.mp4"}
+{"uid":"6801407371624906859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13783321721876692665.mp4"}
+{"uid":"17595095800869786587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14933545750634825719.mp4"}
+{"uid":"17510729419136584643","text":"\u003ctask:success:discrete:True\u003e\nput the page  clip holder 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 page  clip holder in the pen stand\n\u003c/PRED\u003e","video":"284363285124281776.mp4"}
+{"uid":"14128107577188771349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pink candy into 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":"6852045286364845905.mp4"}
+{"uid":"10926599317623510457","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fold bottom of t-shirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward Q: immediate next step? \u003cPRED\u003eA: Fold bottom of t-shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFold bottom of t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFold bottom of t-shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: Fold bottom of t-shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward Q: next 5 steps? \u003cPRED\u003eA: 1- Fold bottom of t-shirt 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fold bottom of t-shirt\n\u003c/PRED\u003e","video":"13681761181725579233.mp4"}
+{"uid":"2682753786302311060","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward 4- Fold bottom of t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward 4- Fold bottom of t-shirt Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nFold bottom of t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fold bottom of t-shirt\n\u003c/PRED\u003e","video":"17338346728273606000.mp4"}
+{"uid":"10371515200720717713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10789133420410556365.mp4"}
+{"uid":"2152812450685155024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the transparent glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3146166142083592508.mp4"}
+{"uid":"1020904356713056692","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy 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: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: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the holder 2- put the pen in the pen stand 3- put the page  clip holder in the pen stand 4- put the book in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e","video":"12112015493615838159.mp4"}
+{"uid":"14666303578961482612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14369970994119273378.mp4"}
+{"uid":"16955423962475482591","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15250631912368217578.mp4"}
+{"uid":"349964451307090521","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7059744582361408632.mp4"}
+{"uid":"7981070993180934424","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"9232445058562748749.mp4"}
+{"uid":"17688983891438224315","text":"\u003ctask:success:discrete:False\u003e\nFold the left sleeves Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFold the left sleeves Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: Fold the left sleeves\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Fold the left sleeves 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward 4- Fold the right waist portion upward 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Fold the left sleeves\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fold the left sleeves\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fold the left sleeves\n\u003c/PRED\u003e","video":"15622473262621189725.mp4"}
+{"uid":"4755770664576448752","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fold left sleeve\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nFold left sleeve Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18272734174265846095.mp4"}
+{"uid":"6550967502099094380","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward 4- Fold the right corner of the t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward 4- Fold the right corner of the t-shirt Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fold the right corner of the t-shirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nFold the right corner of the t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13871990588160702123.mp4"}
+{"uid":"13493766286466940099","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fold right sleeve\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: Fold right sleeve\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFold right sleeve Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- Fold right sleeve 2- fold the left waist portion upward 3- Fold the right waist portion upward 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt Q: immediate next step? \u003cPRED\u003eA: Fold right sleeve\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFold right sleeve Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fold right sleeve\n\u003c/PRED\u003e","video":"8966655122852467027.mp4"}
+{"uid":"6912096966621992284","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":"16683652378408872466.mp4"}
+{"uid":"11298524308560308236","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":"15607248480793289846.mp4"}
+{"uid":"15077229492525213997","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fold the left sleeves\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nFold the left sleeves Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18232061973932878068.mp4"}
+{"uid":"15507979846057493450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cold brew can on the counter from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1062729450216528986.mp4"}
+{"uid":"2137504228393710544","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the clip into the holder 2- put the book in the pen stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: Place the clip into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: Place the clip into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the clip into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the clip into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the clip into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the clip into the holder\n\u003c/PRED\u003e","video":"3502078149697081949.mp4"}
+{"uid":"14551522079605869441","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"4821446813062530608.mp4"}
+{"uid":"1643740535763086214","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand 6- put the page  clip holder in the pen stand Q: immediate next step? \u003cPRED\u003eA: Place the notepad in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the notepad in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand 6- put the page  clip holder in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the notepad in the stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the notepad in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: Place the notepad in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the notepad in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the notepad in the stand\n\u003c/PRED\u003e","video":"3471651838671555342.mp4"}
+{"uid":"6879889448544698651","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the stand\n\u003c/PRED\u003e","video":"14354901492410410525.mp4"}
+{"uid":"8493518467561292361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"871055828246623656.mp4"}
+{"uid":"16302587653035713893","text":"\u003ctask:success:discrete:True\u003e\nPlace the sticky notes 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 sticky notes into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand 6- put the page  clip holder in the pen stand 7- Place the sticky notes into the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder 5- put the pen in the pen stand 6- put the page  clip holder in the pen stand 7- Place the sticky notes into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15160470687938407782.mp4"}
+{"uid":"386914087251121971","text":"\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\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder Q: immediate next step? \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: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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the holder 2- Place the pen into the holder 3- put the pen in the pen stand 4- put the page  clip holder in the pen stand 5- put the book in the pen stand\n\u003c/PRED\u003e","video":"12015828438232333092.mp4"}
+{"uid":"11242536990041191549","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the stand 2- put the page  clip holder in the pen stand 3- put the book in the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14216725369949747056.mp4"}
+{"uid":"4998302828823388099","text":"\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\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy Q: immediate next step? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the holder 2- put the page  clip holder in the pen stand 3- put the book in the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up supplies and put it in the caddy. last 20 steps: 1- Place the marker into the holder 2- Place the marker into the holder 3- Place the pen into the holder 4- Place the pen into the holder Q: immediate next step? \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","video":"4335622267099863036.mp4"}
+{"uid":"2368605403261815836","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward Q: immediate next step? \u003cPRED\u003eA: Fold the right corner of the t-shirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fold the sweater Q: immediate next step? \u003cPRED\u003eA: Fold the right corner of the t-shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fold the right corner of the t-shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fold the sweater. last 20 steps: 1- fold the left sleeve of t-shirt 2- fold the right sleeve of t-shirt 3- fold the left waist portion upward Q: next 5 steps? \u003cPRED\u003eA: 1- Fold the right corner of the t-shirt 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFold the right corner of the t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFold the right corner of the t-shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fold the right corner of the t-shirt\n\u003c/PRED\u003e","video":"4342610399194296930.mp4"}
+{"uid":"9576804404991672420","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the beans packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5849531041625911208.mp4"}
+{"uid":"10406568658572902040","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packet 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e","video":"15380564267792930212.mp4"}
+{"uid":"17392789072582819163","text":"\u003ctask:success:discrete:True\u003e\nopen the left sleeve Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt 6- open the left sleeve Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the left sleeve\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt 6- open the left sleeve Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10891304011515820969.mp4"}
+{"uid":"13026443373507368416","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets Q: next 5 steps? \u003cPRED\u003eA: 1- Put the lead packet in the holder 2- Move the lead packet backward 3- Put the lead packet in the holder 4- Move the lead packet backward 5- Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the lead packet 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: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets Q: immediate next step? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the lead packet 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":"6721409054752173299.mp4"}
+{"uid":"12962769080119625145","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green candy 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":"2404404896889652811.mp4"}
+{"uid":"8111271048813474318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistas in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14435574887174503310.mp4"}
+{"uid":"2806007030207901438","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the white packet 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","video":"13363425838664428455.mp4"}
+{"uid":"10407072211048454363","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":"12824271970539171908.mp4"}
+{"uid":"199254611812816681","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packet 2- Put the packet at left 3- Arrange the packets 4- Put the lead packet in the holder 5- Move the lead packet backward\n\u003c/PRED\u003e","video":"6837346823733179386.mp4"}
+{"uid":"13963813755884553124","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet 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:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet 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: Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the cupboard 2- Arrange the packet 3- Put the white packet in the cupboard 4- Arrange the packet 5- Put the white packet in the cupboard\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 cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e","video":"577318217445108710.mp4"}
+{"uid":"16962662625743376983","text":"\u003ctask:success:discrete:False\u003e\nPut the white packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the cupboard 2- Arrange the packet 3- Put the packet at left 4- Arrange the packets 5- Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the cupboard\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 cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e","video":"5532253301432890347.mp4"}
+{"uid":"4682460932479153416","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":"13373744720857340720.mp4"}
+{"uid":"17494889360301570971","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the  cheese ball 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":"17217486191691343562.mp4"}
+{"uid":"5331721965064149484","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunfold the black cloth from bottom left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunfold the black cloth from bottom left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unfold the black cloth from bottom left 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unfold the black cloth from bottom left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unfold the black cloth from bottom left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: unfold the black cloth from bottom left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unfold the black cloth from bottom left\n\u003c/PRED\u003e","video":"12608968961673394564.mp4"}
+{"uid":"16028413661794392833","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packets\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left Q: immediate next step? \u003cPRED\u003eA: Arrange the packets\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packets 2- Put the lead packet in the holder 3- Move the lead packet backward 4- Put the lead packet in the holder 5- Move the lead packet backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Arrange the packets\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packets\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the packets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5443935024329130378.mp4"}
+{"uid":"9594742809046112663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop on it Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6803436987101698466.mp4"}
+{"uid":"1585267035860509584","text":"\u003ctask:success:discrete:False\u003e\nPut the lead packet 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: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Arrange the packet 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the packet at left 11- Arrange the packets 12- Put the lead packet in the holder 13- Move the lead packet backward 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder 17- Arrange the packets in the holder 18- Put the lead packet backward 19- Put the lead packet in the holder 20- Move the lead packet backward Q: immediate next step? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Arrange the packet 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the packet at left 11- Arrange the packets 12- Put the lead packet in the holder 13- Move the lead packet backward 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder 17- Arrange the packets in the holder 18- Put the lead packet backward 19- Put the lead packet in the holder 20- Move the lead packet backward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the lead packet in the holder 2- Move the holder at left 3- Put the note book in the cupboard 4- Put the note book in the cupboard 5- Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the lead packet 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: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e","video":"17820475176247053111.mp4"}
+{"uid":"17922861320049416455","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet Q: immediate next step? \u003cPRED\u003eA: Put the packet at left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet at left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet at left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet at 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: Put the packet at left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet at left 2- Arrange the packets 3- Put the lead packet in the holder 4- Move the lead packet backward 5- Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the packet at left\n\u003c/PRED\u003e","video":"7076246926741475843.mp4"}
+{"uid":"9538338250288940657","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the lead packet 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":"8685113134892178154.mp4"}
+{"uid":"10331301297110428823","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":"9658848189431081042.mp4"}
+{"uid":"3150121775043540116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17428416927460279180.mp4"}
+{"uid":"18271624260060640029","text":"\u003ctask:success:discrete:False\u003e\nunfold the left arm of tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: unfold the left arm of tshirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- unfold the left arm of tshirt 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunfold the left arm of tshirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unfold the left arm of tshirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unfold the left arm of tshirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt Q: immediate next step? \u003cPRED\u003eA: unfold the left arm of tshirt\n\u003c/PRED\u003e","video":"16666745301484955874.mp4"}
+{"uid":"15812895294949224145","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17121691922196368596.mp4"}
+{"uid":"6355107594061009143","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unfold the left arm of tshirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt 6- unfold the left arm of tshirt Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt 6- unfold the left arm of tshirt Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunfold the left arm of tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6262578088531697242.mp4"}
+{"uid":"2024013920569847417","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder 17- Move the lead packet backward 18- Put the lead packet in the holder Q: immediate next step? \u003cPRED\u003eA: Arrange the packets in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packets 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\nArrange the packets 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: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder 17- Move the lead packet backward 18- Put the lead packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packets in the holder 2- Put the lead packet backward 3- Put the lead packet in the holder 4- Move the lead packet backward 5- Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packets in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Arrange the packets in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packets in the holder\n\u003c/PRED\u003e","video":"12792514514962677263.mp4"}
+{"uid":"15592579368917316427","text":"\u003ctask:success:discrete:True\u003e\nunfold the black cloth from bottom left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unfold the black cloth from bottom left\n\u003c/PRED\u003e","video":"13311074655391800297.mp4"}
+{"uid":"8803904500388613491","text":"\u003ctask:success:discrete:True\u003e\nPut the lead packet in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e","video":"6233805872730582809.mp4"}
+{"uid":"15082307182689592152","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut brown sugar packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16655953671455020669.mp4"}
+{"uid":"9441657058477450639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the card board 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":"5445189092094847360.mp4"}
+{"uid":"5574235928539244950","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Put the white packet in the cupboard 2- Arrange the packet 3- Put the white packet in the cupboard 4- Arrange the packet 5- Put the white packet in the cupboard 6- Arrange the packet 7- Put the white packet in the cupboard 8- Arrange the packet 9- Put the packet at left 10- Arrange the packets 11- Put the lead packet in the holder 12- Move the lead packet backward 13- Put the lead packet in the holder 14- Move the lead packet backward 15- Put the lead packet in the holder 16- Arrange the packets in the holder 17- Put the lead packet backward 18- Put the lead packet in the holder 19- Move the lead packet backward 20- Put the lead packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move the holder at left 2- Put the note book in the cupboard 3- Put the note book in the cupboard 4- Put the note book in the cupboard 5- Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the holder at left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move the holder at left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the holder at left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the holder at left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Put the white packet in the cupboard 2- Arrange the packet 3- Put the white packet in the cupboard 4- Arrange the packet 5- Put the white packet in the cupboard 6- Arrange the packet 7- Put the white packet in the cupboard 8- Arrange the packet 9- Put the packet at left 10- Arrange the packets 11- Put the lead packet in the holder 12- Move the lead packet backward 13- Put the lead packet in the holder 14- Move the lead packet backward 15- Put the lead packet in the holder 16- Arrange the packets in the holder 17- Put the lead packet backward 18- Put the lead packet in the holder 19- Move the lead packet backward 20- Put the lead packet in the holder Q: immediate next step? \u003cPRED\u003eA: Move the holder at left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the holder at left\n\u003c/PRED\u003e","video":"15879461076837847572.mp4"}
+{"uid":"9478728041812304633","text":"\u003ctask:success:discrete:False\u003e\nArrange the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packet 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3057554406433142773.mp4"}
+{"uid":"720302230298012181","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: unfold the tshirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unfold the tshirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunfold the tshirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unfold the tshirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunfold the tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unfold the tshirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unfold the tshirt\n\u003c/PRED\u003e","video":"8661206009072961019.mp4"}
+{"uid":"10511228019254728588","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unfold the upper left part of tshirt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunfold the upper left part of tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unfold the upper left part of tshirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunfold the upper left part of tshirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: unfold the upper left part of tshirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt Q: immediate next step? \u003cPRED\u003eA: unfold the upper left part of tshirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- unfold the upper left part of tshirt 2- open the left arm of the tshirt 3- done\n\u003c/PRED\u003e","video":"11598844038514054821.mp4"}
+{"uid":"17409411512658817395","text":"\u003ctask:success:discrete:True\u003e\nPut the note book 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: Put the note book in the cupboard\n\u003c/PRED\u003e","video":"9159032467034935867.mp4"}
+{"uid":"17294413952134986030","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unfold the tshirt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunfold the tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12770428858680939405.mp4"}
+{"uid":"10126306293734706480","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the right sleeve of the t-shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt Q: immediate next step? \u003cPRED\u003eA: open the right sleeve of the t-shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the right sleeve of the t-shirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the right sleeve of the t-shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- open the right sleeve of the t-shirt 2- open the left sleeve of the t-shirt 3- open the front side of the t-shirt 4- open the left arm of the tshirt 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the right sleeve of the t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: open the right sleeve of the t-shirt\n\u003c/PRED\u003e","video":"12855195020801603184.mp4"}
+{"uid":"13070877456592616617","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the left bottom side of the t-shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the left bottom side of the t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1908341383510894455.mp4"}
+{"uid":"1447899174575631557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4697523198556822550.mp4"}
+{"uid":"11077337729880117918","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunfold the t shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unfold the t shirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt Q: immediate next step? \u003cPRED\u003eA: unfold the t shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunfold the t shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unfold the t shirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: unfold the t shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- unfold the t shirt 2- open the right sleeve of the t-shirt 3- open the left sleeve of the t-shirt 4- open the front side of the t-shirt 5- open the left arm of the tshirt\n\u003c/PRED\u003e","video":"8988684970146537897.mp4"}
+{"uid":"13661724487192432477","text":"\u003ctask:success:discrete:True\u003e\nPut the white packet 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: Put the white packet in the cupboard\n\u003c/PRED\u003e","video":"17329813088173995207.mp4"}
+{"uid":"4555827671580947746","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":"5497494214282279121.mp4"}
+{"uid":"2526672033331165381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8441853060398995609.mp4"}
+{"uid":"9050858492925700388","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- open the left sleeve 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the left sleeve\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the left sleeve Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the left sleeve Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt Q: immediate next step? \u003cPRED\u003eA: open the left sleeve\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the left sleeve\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: open the left sleeve\n\u003c/PRED\u003e","video":"1640375444249758130.mp4"}
+{"uid":"3872013481423237003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the lid of the machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5214838418214282365.mp4"}
+{"uid":"535191146064950434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17113275784329430915.mp4"}
+{"uid":"9037010451520811377","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17484602842187731688.mp4"}
+{"uid":"8875353711598172024","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the cupboard 2- Arrange the packet 3- Put the white packet in the cupboard 4- Arrange the packet 5- Put the packet at left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the cupboard\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 cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet 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","video":"1031252247714762588.mp4"}
+{"uid":"14417679287526995320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue marker in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7904808011819894174.mp4"}
+{"uid":"5370926872264991653","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the note book 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","video":"7201538317231172979.mp4"}
+{"uid":"12250937201913233455","text":"\u003ctask:success:discrete:False\u003e\nPut the note book 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: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Arrange the packet 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the packet at left 7- Arrange the packets 8- Put the lead packet in the holder 9- Move the lead packet backward 10- Put the lead packet in the holder 11- Move the lead packet backward 12- Put the lead packet in the holder 13- Arrange the packets in the holder 14- Put the lead packet backward 15- Put the lead packet in the holder 16- Move the lead packet backward 17- Put the lead packet in the holder 18- Move the holder at left 19- Put the note book in the cupboard 20- Put the note book in the cupboard Q: immediate next step? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Arrange the packet 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the packet at left 7- Arrange the packets 8- Put the lead packet in the holder 9- Move the lead packet backward 10- Put the lead packet in the holder 11- Move the lead packet backward 12- Put the lead packet in the holder 13- Arrange the packets in the holder 14- Put the lead packet backward 15- Put the lead packet in the holder 16- Move the lead packet backward 17- Put the lead packet in the holder 18- Move the holder at left 19- Put the note book in the cupboard 20- Put the note book in the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Put the note book in the cupboard 2- Put the note book in the cupboard 3- Close the cupboard 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the note book 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","video":"4254722506460121189.mp4"}
+{"uid":"8418776516297678620","text":"\u003ctask:success:discrete:False\u003e\nPut the white packet 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the cupboard 2- Arrange the packet 3- Put the white packet in the cupboard 4- Arrange the packet 5- Put the white packet in the cupboard\n\u003c/PRED\u003e","video":"10537932119729569036.mp4"}
+{"uid":"8129027754534050595","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt Q: immediate next step? \u003cPRED\u003eA: unfold the black cloth from bottom righ\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- unfold the black cloth from bottom righ 2- open the left sleeve of the t-shirt 3- open the front side of the t-shirt 4- open the left arm of the tshirt 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunfold the black cloth from bottom righ Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unfold the black cloth from bottom righ\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: unfold the black cloth from bottom righ\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunfold the black cloth from bottom righ Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unfold the black cloth from bottom righ\n\u003c/PRED\u003e","video":"1965846399814524126.mp4"}
+{"uid":"15743794469078959271","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- open the left arm of the tshirt 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the left arm of the tshirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the left arm of the tshirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: open the left arm of the tshirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the left arm of the tshirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt Q: immediate next step? \u003cPRED\u003eA: open the left arm of the tshirt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the left arm of the tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1266192600603635481.mp4"}
+{"uid":"6712087628744020539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5478631787454281650.mp4"}
+{"uid":"8666137148040956160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white chocolate ball in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"342862861797954707.mp4"}
+{"uid":"8589872287305720143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10160818788181499781.mp4"}
+{"uid":"4103825627469655638","text":"\u003ctask:success:discrete:True\u003e\nunfold left arm of the tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unfold left arm of the tshirt\n\u003c/PRED\u003e","video":"805649519824595113.mp4"}
+{"uid":"13545159419730464172","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brush from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3501514113335486415.mp4"}
+{"uid":"12542123512409865989","text":"\u003ctask:success:discrete:True\u003e\nOpen the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the cupboard\n\u003c/PRED\u003e","video":"11057736524580004814.mp4"}
+{"uid":"7785815309408310761","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the note book 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","video":"12249504493882474855.mp4"}
+{"uid":"6464010133393756929","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace mug from top drawer to counter table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"797358914049902398.mp4"}
+{"uid":"2007592985962000170","text":"\u003ctask:success:discrete:False\u003e\nopen the left bottom side of the t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: open the left bottom side of the t-shirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the left bottom side of the t-shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the left bottom side of the t-shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the left bottom side of the t-shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the left bottom side of the t-shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10254257238710876508.mp4"}
+{"uid":"14475804777342807958","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the lead packet 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: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder 17- Move the lead packet backward 18- Put the lead packet in the holder 19- Arrange the packets in the holder 20- Put the lead packet backward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the lead packet in the holder 2- Move the lead packet backward 3- Put the lead packet in the holder 4- Move the holder at left 5- Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the lead packet 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: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder 17- Move the lead packet backward 18- Put the lead packet in the holder 19- Arrange the packets in the holder 20- Put the lead packet backward Q: immediate next step? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e","video":"12280614270775453325.mp4"}
+{"uid":"15627380688176410282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9101640005012736644.mp4"}
+{"uid":"1991870821163615084","text":"\u003ctask:success:discrete:True\u003e\nunfold the neck of the tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unfold the neck of the tshirt\n\u003c/PRED\u003e","video":"124396523233017231.mp4"}
+{"uid":"18179101898997384951","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the lead packet 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":"7691603749169889385.mp4"}
+{"uid":"8187992454938790919","text":"\u003ctask:success:discrete:True\u003e\nPut the lead packet in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e","video":"13945744624162485972.mp4"}
+{"uid":"17058280979152376020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"8012752135016626138.mp4"}
+{"uid":"8293003250712953391","text":"\u003ctask:success:discrete:True\u003e\nopen the right sleeve of the t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the right sleeve of the t-shirt\n\u003c/PRED\u003e","video":"603488057682564548.mp4"}
+{"uid":"5186583627342201296","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the lead packet backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the lead packet backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move the lead packet backward 2- Put the lead packet in the holder 3- Arrange the packets in the holder 4- Put the lead packet backward 5- Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the lead packet backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder Q: immediate next step? \u003cPRED\u003eA: Move the lead packet backward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the lead packet backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move the lead packet backward\n\u003c/PRED\u003e","video":"8208667932828634432.mp4"}
+{"uid":"8836618565204288256","text":"\u003ctask:success:discrete:False\u003e\nPut the lead packet 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: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the lead packet 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: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder 15- Move the lead packet backward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the lead packet in the holder 2- Move the lead packet backward 3- Put the lead packet in the holder 4- Arrange the packets in the holder 5- Put the lead packet backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder 15- Move the lead packet backward Q: immediate next step? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e","video":"1523884551186734260.mp4"}
+{"uid":"15048959259690522538","text":"\u003ctask:success:discrete:True\u003e\nopen the front side of the t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the front side of the t-shirt\n\u003c/PRED\u003e","video":"4289237308257411116.mp4"}
+{"uid":"11597699179715523448","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Open the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the cupboard\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","video":"15221923129487011569.mp4"}
+{"uid":"17906532077904434177","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"7233468152901930778.mp4"}
+{"uid":"168612939718855518","text":"\u003ctask:success:discrete:True\u003e\nunfold the right arm of the tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unfold the right arm of the tshirt\n\u003c/PRED\u003e","video":"10787725111815066447.mp4"}
+{"uid":"13111997058638818617","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":"16931875154565304075.mp4"}
+{"uid":"736045188264386727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the brown tissue paper. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8050496699116048391.mp4"}
+{"uid":"6779662456035906429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the kettle 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":"13042966948613022018.mp4"}
+{"uid":"14331758316599790589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack cup on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5042643785170912502.mp4"}
+{"uid":"7558369349968559126","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunfold the right arm of the tshirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ Q: immediate next step? \u003cPRED\u003eA: unfold the right arm of the tshirt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunfold the right arm of the tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: unfold the right arm of the tshirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ Q: next 5 steps? \u003cPRED\u003eA: 1- unfold the right arm of the tshirt 2- open the left sleeve of the t-shirt 3- open the front side of the t-shirt 4- open the left arm of the tshirt 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unfold the right arm of the tshirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unfold the right arm of the tshirt\n\u003c/PRED\u003e","video":"5358662390469859558.mp4"}
+{"uid":"3019850363434758254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the brown belt downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"185834258748008013.mp4"}
+{"uid":"18310811216529039042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11759948037116421209.mp4"}
+{"uid":"6340589894787868103","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packet 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e","video":"12537286846836498972.mp4"}
+{"uid":"13791603865412280466","text":"\u003ctask:success:discrete:True\u003e\nunfold the upper left part of tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unfold the upper left part of tshirt\n\u003c/PRED\u003e","video":"14663936343017367991.mp4"}
+{"uid":"17450586108449969448","text":"\u003ctask:success:discrete:False\u003e\nPut the note book 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Arrange the packet 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the packet at left 9- Arrange the packets 10- Put the lead packet in the holder 11- Move the lead packet backward 12- Put the lead packet in the holder 13- Move the lead packet backward 14- Put the lead packet in the holder 15- Arrange the packets in the holder 16- Put the lead packet backward 17- Put the lead packet in the holder 18- Move the lead packet backward 19- Put the lead packet in the holder 20- Move the holder at left Q: next 5 steps? \u003cPRED\u003eA: 1- Put the note book in the cupboard 2- Put the note book in the cupboard 3- Put the note book in the cupboard 4- Put the note book in the cupboard 5- Close the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the note book 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: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Arrange the packet 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the packet at left 9- Arrange the packets 10- Put the lead packet in the holder 11- Move the lead packet backward 12- Put the lead packet in the holder 13- Move the lead packet backward 14- Put the lead packet in the holder 15- Arrange the packets in the holder 16- Put the lead packet backward 17- Put the lead packet in the holder 18- Move the lead packet backward 19- Put the lead packet in the holder 20- Move the holder at left Q: immediate next step? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e","video":"4102931898436003.mp4"}
+{"uid":"4385619424002648328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9441772090183335218.mp4"}
+{"uid":"2173487759757633508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2849377316801338264.mp4"}
+{"uid":"13070558058015100391","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the thumb pin in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2671562539468978087.mp4"}
+{"uid":"15946707796701854291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13314526356915076002.mp4"}
+{"uid":"505509898039969493","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unfold the t shirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ Q: immediate next step? \u003cPRED\u003eA: unfold the t shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunfold the t shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunfold the t shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unfold the t shirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: unfold the t shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ Q: next 5 steps? \u003cPRED\u003eA: 1- unfold the t shirt 2- open the left sleeve of the t-shirt 3- open the front side of the t-shirt 4- open the left arm of the tshirt 5- done\n\u003c/PRED\u003e","video":"16281981137155659699.mp4"}
+{"uid":"18353920907676599835","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt Q: immediate next step? \u003cPRED\u003eA: open the left sleeve of the t-shirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: open the left sleeve of the t-shirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the left sleeve of the t-shirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the left sleeve of the t-shirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the left sleeve of the t-shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the left sleeve of the t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- open the left sleeve of the t-shirt 2- open the front side of the t-shirt 3- open the left arm of the tshirt 4- done\n\u003c/PRED\u003e","video":"12908233626846010620.mp4"}
+{"uid":"5544696749217456646","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the lead packet 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 lead packet 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: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder 17- Move the lead packet backward Q: immediate next step? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the lead packet in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder 17- Move the lead packet backward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the lead packet in the holder 2- Arrange the packets in the holder 3- Put the lead packet backward 4- Put the lead packet in the holder 5- Move the lead packet backward\n\u003c/PRED\u003e","video":"14399169311285598576.mp4"}
+{"uid":"11343206367554645252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the green 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":"3788921649608847445.mp4"}
+{"uid":"3759174097679182681","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packet 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the packet at left 5- Arrange the packets\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13523819857038977813.mp4"}
+{"uid":"18415462009479710808","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Put the white packet in the cupboard 2- Arrange the packet 3- Put the white packet in the cupboard 4- Arrange the packet 5- Put the white packet in the cupboard 6- Arrange the packet 7- Put the packet at left 8- Arrange the packets 9- Put the lead packet in the holder 10- Move the lead packet backward 11- Put the lead packet in the holder 12- Move the lead packet backward 13- Put the lead packet in the holder 14- Arrange the packets in the holder 15- Put the lead packet backward 16- Put the lead packet in the holder 17- Move the lead packet backward 18- Put the lead packet in the holder 19- Move the holder at left 20- Put the note book in the cupboard Q: immediate next step? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the note book 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Put the white packet in the cupboard 2- Arrange the packet 3- Put the white packet in the cupboard 4- Arrange the packet 5- Put the white packet in the cupboard 6- Arrange the packet 7- Put the packet at left 8- Arrange the packets 9- Put the lead packet in the holder 10- Move the lead packet backward 11- Put the lead packet in the holder 12- Move the lead packet backward 13- Put the lead packet in the holder 14- Arrange the packets in the holder 15- Put the lead packet backward 16- Put the lead packet in the holder 17- Move the lead packet backward 18- Put the lead packet in the holder 19- Move the holder at left 20- Put the note book in the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Put the note book in the cupboard 2- Put the note book in the cupboard 3- Put the note book in the cupboard 4- Close the cupboard 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the note book 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","video":"12734817486283315979.mp4"}
+{"uid":"8236664275481685387","text":"\u003ctask:success:discrete:True\u003e\nopen the left arm of the tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt 6- open the left arm of the tshirt Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt 5- open the front side of the t-shirt 6- open the left arm of the tshirt Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the left arm of the tshirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7436197745779571460.mp4"}
+{"uid":"12989152926840165064","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the note book 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Put the white packet in the cupboard 2- Arrange the packet 3- Put the white packet in the cupboard 4- Arrange the packet 5- Put the packet at left 6- Arrange the packets 7- Put the lead packet in the holder 8- Move the lead packet backward 9- Put the lead packet in the holder 10- Move the lead packet backward 11- Put the lead packet in the holder 12- Arrange the packets in the holder 13- Put the lead packet backward 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder 17- Move the holder at left 18- Put the note book in the cupboard 19- Put the note book in the cupboard 20- Put the note book in the cupboard Q: immediate next step? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Put the white packet in the cupboard 2- Arrange the packet 3- Put the white packet in the cupboard 4- Arrange the packet 5- Put the packet at left 6- Arrange the packets 7- Put the lead packet in the holder 8- Move the lead packet backward 9- Put the lead packet in the holder 10- Move the lead packet backward 11- Put the lead packet in the holder 12- Arrange the packets in the holder 13- Put the lead packet backward 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder 17- Move the holder at left 18- Put the note book in the cupboard 19- Put the note book in the cupboard 20- Put the note book in the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Put the note book in the cupboard 2- Close the cupboard 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the note book 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","video":"1141982298427268954.mp4"}
+{"uid":"4546331712079177771","text":"\u003ctask:success:discrete:False\u003e\nunfold left arm of the tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- unfold left arm of the tshirt 2- open the front side of the t-shirt 3- open the left arm of the tshirt 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunfold left arm of the tshirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt Q: immediate next step? \u003cPRED\u003eA: unfold left arm of the tshirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unfold left arm of the tshirt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: unfold left arm of the tshirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unfold left arm of the tshirt\n\u003c/PRED\u003e","video":"7283643743240366007.mp4"}
+{"uid":"9165080572853232420","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: unfold the neck of the tshirt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unfold the neck of the tshirt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunfold the neck of the tshirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unfold the neck of the tshirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt Q: immediate next step? \u003cPRED\u003eA: unfold the neck of the tshirt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunfold the neck of the tshirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- unfold the neck of the tshirt 2- open the left arm of the tshirt 3- done\n\u003c/PRED\u003e","video":"10453365963240152201.mp4"}
+{"uid":"18161493545527604771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black pebble in the right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1605463156737767861.mp4"}
+{"uid":"10408040527219762298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9895213267864286848.mp4"}
+{"uid":"2977214776195059541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in to 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":"11573633675671831187.mp4"}
+{"uid":"9916596152775909575","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7814275743701674514.mp4"}
+{"uid":"17539456493084632886","text":"\u003ctask:success:discrete:False\u003e\nPut the white packet 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:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet 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: Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the cupboard 2- Arrange the packet 3- Put the white packet in the cupboard 4- Arrange the packet 5- Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the cupboard\n\u003c/PRED\u003e","video":"1786172159238238401.mp4"}
+{"uid":"10798284945456609772","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":"11898402538296997473.mp4"}
+{"uid":"13788980084613377931","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":"13012323429776069254.mp4"}
+{"uid":"11875607064525547504","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Put the lead packet backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the lead packet backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the lead packet backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder 17- Move the lead packet backward 18- Put the lead packet in the holder 19- Arrange the packets in the holder Q: immediate next step? \u003cPRED\u003eA: Put the lead packet backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the lead packet backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder 15- Move the lead packet backward 16- Put the lead packet in the holder 17- Move the lead packet backward 18- Put the lead packet in the holder 19- Arrange the packets in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the lead packet backward 2- Put the lead packet in the holder 3- Move the lead packet backward 4- Put the lead packet in the holder 5- Move the holder at left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the lead packet backward\n\u003c/PRED\u003e","video":"3660571940750667106.mp4"}
+{"uid":"16170012751050050238","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unfold the sweater Q: immediate next step? \u003cPRED\u003eA: open the front side of the t-shirt\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt Q: immediate next step? \u003cPRED\u003eA: open the front side of the t-shirt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unfold the sweater. last 20 steps: 1- open the left bottom side of the t-shirt 2- unfold the black cloth from bottom righ 3- open the right sleeve of the t-shirt 4- open the left sleeve of the t-shirt Q: next 5 steps? \u003cPRED\u003eA: 1- open the front side of the t-shirt 2- open the left arm of the tshirt 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the front side of the t-shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the front side of the t-shirt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the front side of the t-shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the front side of the t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8454858393885749296.mp4"}
+{"uid":"13451672992234635791","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the lead packet backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder Q: immediate next step? \u003cPRED\u003eA: Move the lead packet backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the lead packet backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move the lead packet backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Open the cupboard 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the white packet in the cupboard 5- Arrange the packet 6- Put the white packet in the cupboard 7- Arrange the packet 8- Put the white packet in the cupboard 9- Arrange the packet 10- Put the white packet in the cupboard 11- Arrange the packet 12- Put the packet at left 13- Arrange the packets 14- Put the lead packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move the lead packet backward 2- Put the lead packet in the holder 3- Move the lead packet backward 4- Put the lead packet in the holder 5- Arrange the packets in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the lead packet backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the lead packet backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4162384950931226973.mp4"}
+{"uid":"13986323252048536965","text":"\u003ctask:success:discrete:True\u003e\nunfold the black cloth from bottom righ Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unfold the black cloth from bottom righ\n\u003c/PRED\u003e","video":"5170641027479109033.mp4"}
+{"uid":"10987556465091318421","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":"16184626266599354719.mp4"}
+{"uid":"7744200837751181764","text":"\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Arrange the packet 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the packet at left 5- Arrange the packets 6- Put the lead packet in the holder 7- Move the lead packet backward 8- Put the lead packet in the holder 9- Move the lead packet backward 10- Put the lead packet in the holder 11- Arrange the packets in the holder 12- Put the lead packet backward 13- Put the lead packet in the holder 14- Move the lead packet backward 15- Put the lead packet in the holder 16- Move the holder at left 17- Put the note book in the cupboard 18- Put the note book in the cupboard 19- Put the note book in the cupboard 20- Put the note book 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: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Arrange the packet 2- Put the white packet in the cupboard 3- Arrange the packet 4- Put the packet at left 5- Arrange the packets 6- Put the lead packet in the holder 7- Move the lead packet backward 8- Put the lead packet in the holder 9- Move the lead packet backward 10- Put the lead packet in the holder 11- Arrange the packets in the holder 12- Put the lead packet backward 13- Put the lead packet in the holder 14- Move the lead packet backward 15- Put the lead packet in the holder 16- Move the holder at left 17- Put the note book in the cupboard 18- Put the note book in the cupboard 19- Put the note book in the cupboard 20- Put the note book in the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Close the cupboard 2- done\n\u003c/PRED\u003e","video":"16759287337391436875.mp4"}
+{"uid":"17816808583061641046","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the left sleeve of the t-shirt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the left sleeve of the t-shirt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15262287391170109096.mp4"}
+{"uid":"8065519589162041129","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Put the white packet in the cupboard 2- Arrange the packet 3- Put the white packet in the cupboard 4- Arrange the packet 5- Put the white packet in the cupboard 6- Arrange the packet 7- Put the white packet in the cupboard 8- Arrange the packet 9- Put the white packet in the cupboard 10- Arrange the packet 11- Put the packet at left 12- Arrange the packets 13- Put the lead packet in the holder 14- Move the lead packet backward 15- Put the lead packet in the holder 16- Move the lead packet backward 17- Put the lead packet in the holder 18- Arrange the packets in the holder 19- Put the lead packet backward 20- Put the lead packet in the holder Q: immediate next step? \u003cPRED\u003eA: Move the lead packet backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the lead packet backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the lead packet backward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the lead packet backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the lead packet backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet. last 20 steps: 1- Put the white packet in the cupboard 2- Arrange the packet 3- Put the white packet in the cupboard 4- Arrange the packet 5- Put the white packet in the cupboard 6- Arrange the packet 7- Put the white packet in the cupboard 8- Arrange the packet 9- Put the white packet in the cupboard 10- Arrange the packet 11- Put the packet at left 12- Arrange the packets 13- Put the lead packet in the holder 14- Move the lead packet backward 15- Put the lead packet in the holder 16- Move the lead packet backward 17- Put the lead packet in the holder 18- Arrange the packets in the holder 19- Put the lead packet backward 20- Put the lead packet in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move the lead packet backward 2- Put the lead packet in the holder 3- Move the holder at left 4- Put the note book in the cupboard 5- Put the note book in the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the items on the table into where they belong in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move the lead packet backward\n\u003c/PRED\u003e","video":"16490581095612239302.mp4"}
+{"uid":"9954587441949589940","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":"11140137554974226908.mp4"}
+{"uid":"7628842814823716645","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object 19- drop the yellow object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black cable 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object 19- drop the yellow object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e","video":"1593479328406704270.mp4"}
+{"uid":"2933975864514804032","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: pick the yellow object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the yellow object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow object 2- pick the black cable 3- release the black cable 4- done\n\u003c/PRED\u003e","video":"3170392924942850127.mp4"}
+{"uid":"13777761552053390872","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: move close to the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move close to the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the cardboard box 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap\n\u003c/PRED\u003e","video":"9687771505464719478.mp4"}
+{"uid":"17402584913013967017","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back Q: next 5 steps? \u003cPRED\u003eA: 1- pick a orange object 2- move your arm downwards 3- grab the orange object which is on the blue object 4- drop the orange object in the cardboard box 5- pick the orange object from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back Q: immediate next step? \u003cPRED\u003eA: pick a orange object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a orange object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a orange object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: pick a orange object\n\u003c/PRED\u003e","video":"7256144201366561842.mp4"}
+{"uid":"9285553710346201865","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange object in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e","video":"6136817448630222164.mp4"}
+{"uid":"1988370586493382556","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"11993417752774534350.mp4"}
+{"uid":"8675822856428320603","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange object in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange object in the cardboard box 2- pick the yellow packet which is right to the blue object 3- drop the black object in the cardboard box 4- move your arm close to the yellow object on the floor 5- pick the yellow object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e","video":"7762811065198363868.mp4"}
+{"uid":"2428649288554289612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up black object from the table and place it into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9761359820660755794.mp4"}
+{"uid":"12629479249619181358","text":"\u003ctask:success:discrete:True\u003e\npick the yellow packet which is right to the blue object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the yellow packet which is right to the blue object\n\u003c/PRED\u003e","video":"4814422986492629110.mp4"}
+{"uid":"12410216202030875375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the can from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12012778298825048706.mp4"}
+{"uid":"7797451095854400479","text":"\u003ctask:success:discrete:True\u003e\nmove close to the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the cardboard box\n\u003c/PRED\u003e","video":"9282919083034093429.mp4"}
+{"uid":"6638670434284215490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"274172358130712304.mp4"}
+{"uid":"16441996219704172154","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black cable from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black cable from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4090405379750260985.mp4"}
+{"uid":"2556285423592105477","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the cardboard box right flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap Q: next 5 steps? \u003cPRED\u003eA: 1- touch the cardboard box right flap 2- slightly move forward 3- pick a orange object 4- move your arm downwards 5- grab the orange object which is on the blue object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap Q: immediate next step? \u003cPRED\u003eA: touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the cardboard box right flap\n\u003c/PRED\u003e","video":"11250446664819236956.mp4"}
+{"uid":"9677032758854854628","text":"\u003ctask:success:discrete:True\u003e\nclean the clock toy 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the clock toy with the wipe\n\u003c/PRED\u003e","video":"15725905181581097252.mp4"}
+{"uid":"5094380294422858903","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: touch the bottom flap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntouch the bottom flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8950712103945360021.mp4"}
+{"uid":"7106600568853891382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7887650028249719260.mp4"}
+{"uid":"15806437736140852179","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black object from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black object from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13842718534273881638.mp4"}
+{"uid":"8592908477892085283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"10586053659310261845.mp4"}
+{"uid":"13051967051938861569","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13125540260144747763.mp4"}
+{"uid":"15430822242057861810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the transparent tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1312806929400276624.mp4"}
+{"uid":"5204941402642455814","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the yellow packet from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the yellow packet from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14975367089945982712.mp4"}
+{"uid":"13254172044573587724","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cardboard box bottom flap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the cardboard box bottom flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"174711378598320058.mp4"}
+{"uid":"2500894025455153084","text":"\u003ctask:success:discrete:True\u003e\nslightly move back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e","video":"469352194925914771.mp4"}
+{"uid":"7314125772190912537","text":"\u003ctask:success:discrete:False\u003e\npick the yellow packet which is right to the blue object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow packet which is right to the blue object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow packet which is right to the blue object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow packet which is right to the blue object 2- move your arm close to the yellow object on the floor 3- pick the yellow object 4- drop the yellow object in the cardboard box 5- pick the black cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow packet which is right to the blue object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet which is right to the blue object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet which is right to the blue object\n\u003c/PRED\u003e","video":"16648628394752641213.mp4"}
+{"uid":"16251746997255727449","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object Q: immediate next step? \u003cPRED\u003eA: move your arm close to the yellow object on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the yellow object on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the yellow object on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: move your arm close to the yellow object on the floor\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 yellow object on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the yellow object on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the yellow object on the floor 2- drop the yellow object in the cardboard box 3- pick the black cable 4- release the black cable 5- done\n\u003c/PRED\u003e","video":"3163146706650732361.mp4"}
+{"uid":"16186904489931941063","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the clock toy in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock toy on the table 2- clean the clock toy with the wipe 3- place the clock toy in the shelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock toy on the table 2- clean the clock toy with the wipe 3- place the clock toy in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the clock toy in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11190175577522317900.mp4"}
+{"uid":"12568162143796724991","text":"\u003ctask:success:discrete:True\u003e\nmove towards the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the orange cable\n\u003c/PRED\u003e","video":"8979606993882873876.mp4"}
+{"uid":"11249200602940247320","text":"\u003ctask:success:discrete:False\u003e\nslightly move 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: slightly move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move forward 2- move your arm downwards 3- grab the orange object which is on the blue object 4- drop the orange object in the cardboard box 5- pick the orange object from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move 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: slightly move forward\n\u003c/PRED\u003e","video":"5419177964775190331.mp4"}
+{"uid":"1911762193540525224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the pop corn 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":"6277255037442024511.mp4"}
+{"uid":"7792083556076273290","text":"\u003ctask:success:discrete:False\u003e\ndrop the yellow packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet in the cardboard box 2- release the black cable 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow packet in the cardboard box\n\u003c/PRED\u003e","video":"14417289604995039494.mp4"}
+{"uid":"11033603243883331549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move your arm to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"499864392711833196.mp4"}
+{"uid":"14721270189230318669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spanner into the green glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13240983570198819737.mp4"}
+{"uid":"18241730933937151593","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange object in the cardboard box 2- drop the orange object in the cardboard box 3- pick the yellow packet which is right to the blue object 4- drop the black object in the cardboard box 5- move your arm close to the yellow object on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e","video":"9911180538014679148.mp4"}
+{"uid":"6654405282708912031","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"357585574586880040.mp4"}
+{"uid":"13584032847169174591","text":"\u003ctask:success:discrete:True\u003e\npick the orange object from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the orange object from the floor\n\u003c/PRED\u003e","video":"7015054914522489309.mp4"}
+{"uid":"18200804873343638197","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntouch the cardboard box right flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntouch the cardboard box right flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12227232796067819879.mp4"}
+{"uid":"4424826367624982040","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":"18132812966589895747.mp4"}
+{"uid":"16913882437561573729","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move 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: slightly move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move forward 2- move your arm downwards 3- grab the orange object which is on the blue object 4- drop the orange object in the cardboard box 5- pick the orange object from the floor\n\u003c/PRED\u003e","video":"5308051339078938697.mp4"}
+{"uid":"6100527959649910577","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange object in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1284175749000360741.mp4"}
+{"uid":"3606516566318867217","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object Q: immediate next step? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black cable 2- release the black cable 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e","video":"11372059157358565981.mp4"}
+{"uid":"8243346235538976038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the pen  holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput black pen in pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2358631804966736171.mp4"}
+{"uid":"10261142423906128735","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen stand on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16241686616545338088.mp4"}
+{"uid":"13883959695865142146","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm towards the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: move your arm towards the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the cardboard box top flap 2- slightly move the cardboard box 3- slightly move forward 4- open the cardboard box bottom flap 5- touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cardboard box top flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: open the cardboard box top flap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cardboard box top flap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the cardboard box 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the cardboard box top flap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard box top flap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cardboard box top flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10462716939236287076.mp4"}
+{"uid":"14742458474576340378","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the yellow object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the yellow object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the yellow object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor Q: immediate next step? \u003cPRED\u003eA: pick up the yellow object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the yellow object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the yellow object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the yellow object 2- pick the black cable 3- release the black cable 4- done\n\u003c/PRED\u003e","video":"15663737368264815214.mp4"}
+{"uid":"5602570510128632692","text":"\u003ctask:success:discrete:True\u003e\npick a black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a black object\n\u003c/PRED\u003e","video":"11727908288606728870.mp4"}
+{"uid":"928592442216924635","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the rubber band drawer box 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":"6181933896611797730.mp4"}
+{"uid":"11966649734126064552","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the black cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object 19- drop the yellow object in the cardboard box 20- pick the black cable Q: immediate next step? \u003cPRED\u003eA: move your arm towards the black cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the black cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: move your arm towards the black cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the black cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object 19- drop the yellow object in the cardboard box 20- pick the black cable Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the black cable 2- done\n\u003c/PRED\u003e","video":"18146200276107524919.mp4"}
+{"uid":"2728373719620679144","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5250335563822784598.mp4"}
+{"uid":"7409935500563942428","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":"12306197950680316035.mp4"}
+{"uid":"8447220890012022697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17107371404104350947.mp4"}
+{"uid":"20054816219828419","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"63413544016512353.mp4"}
+{"uid":"7742029711440114533","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8044778102351585423.mp4"}
+{"uid":"12267595773503985794","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: grab the orange object which is on the blue object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the orange object which is on the blue object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- grab the orange object which is on the blue object 2- pick the orange object from the floor 3- drop the orange object in the cardboard box 4- pick the yellow packet which is right to the blue object 5- drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the orange object which is on the blue object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: grab the orange object which is on the blue object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the orange object which is on the blue object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the orange object which is on the blue object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10906384671245280275.mp4"}
+{"uid":"11156785584876412805","text":"\u003ctask:success:discrete:False\u003e\ndrop the black object in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black object in the cardboard box 2- pick the yellow object 3- drop the yellow object in the cardboard box 4- pick the black cable 5- release the black cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object Q: immediate next step? \u003cPRED\u003eA: drop the black object in the cardboard box\n\u003c/PRED\u003e","video":"157601936583454319.mp4"}
+{"uid":"15375471599069077137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17393247240935626424.mp4"}
+{"uid":"14035881990637485916","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move the cardboard box 2- slightly move forward 3- open the cardboard box bottom flap 4- touch the cardboard box right flap 5- slightly move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap Q: immediate next step? \u003cPRED\u003eA: slightly move the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: slightly move the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16071208600859738839.mp4"}
+{"uid":"10545231516267115848","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":"15400380184572206236.mp4"}
+{"uid":"15299968761198063389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork on the forks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6234132050040564482.mp4"}
+{"uid":"17831564902242492883","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":"10025736299554315999.mp4"}
+{"uid":"318829733085188677","text":"\u003ctask:success:discrete:False\u003e\ndrop the orange object in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange object in the cardboard box 2- pick the yellow packet which is right to the blue object 3- drop the black object in the cardboard box 4- move your arm close to the yellow object on the floor 5- pick the yellow object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1661776185842959672.mp4"}
+{"uid":"16048923311100143916","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow packet from the floor 2- drop the yellow object in the cardboard box 3- pick the black cable 4- release the black cable 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow packet from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow packet from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow packet from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow packet from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4784141734790860277.mp4"}
+{"uid":"6509819537226230534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8267991872145533884.mp4"}
+{"uid":"4630738120852185083","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black object in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black object in the cardboard box 2- pick the yellow object 3- drop the yellow object in the cardboard box 4- pick the black cable 5- release the black cable\n\u003c/PRED\u003e","video":"16640269820062558850.mp4"}
+{"uid":"950598464821574813","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move back 2- pick a orange object 3- move your arm downwards 4- grab the orange object which is on the blue object 5- drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap Q: immediate next step? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e","video":"14455454965770084955.mp4"}
+{"uid":"1531424479167794485","text":"\u003ctask:success:discrete:False\u003e\ndrop the yellow object in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow object in the cardboard box 2- release the black cable 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow object in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object Q: immediate next step? \u003cPRED\u003eA: drop the yellow object in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: drop the yellow object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow object in the cardboard box\n\u003c/PRED\u003e","video":"2823756878617283971.mp4"}
+{"uid":"2305380840362112835","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdd the right indoor plant to the rest of the indoor plants on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7811227255413872959.mp4"}
+{"uid":"6199667714155017154","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object 19- drop the yellow object in the cardboard box 20- pick the black cable Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object 19- drop the yellow object in the cardboard box 20- pick the black cable Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15016069728356250008.mp4"}
+{"uid":"12677743293345310143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a bigger clip inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16638857477741820367.mp4"}
+{"uid":"17868150878559414507","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm downwards 2- grab the orange object which is on the blue object 3- drop the orange object in the cardboard box 4- pick the orange object from the floor 5- drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e","video":"9745111401071814590.mp4"}
+{"uid":"7475276484188660691","text":"\u003ctask:success:discrete:False\u003e\nopen the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- open the cardboard box 2- slightly move back 3- slightly move forward 4- pick a orange object 5- move your arm downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward Q: immediate next step? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e","video":"9934423580039900330.mp4"}
+{"uid":"7767235657217822009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3267774526894584367.mp4"}
+{"uid":"16708524445750055071","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap Q: immediate next step? \u003cPRED\u003eA: touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the cardboard box right flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch the cardboard box right flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap Q: next 5 steps? \u003cPRED\u003eA: 1- touch the cardboard box right flap 2- slightly move forward 3- pick a orange object 4- move your arm downwards 5- grab the orange object which is on the blue object\n\u003c/PRED\u003e","video":"4046580104434820256.mp4"}
+{"uid":"176577248992956853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the knife into the middle holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5576827058669893273.mp4"}
+{"uid":"5165614879594643044","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":"1319115340416492092.mp4"}
+{"uid":"8783558349099186940","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the cardboard box 2- slightly move the cardboard box 3- slightly move forward 4- open the cardboard box bottom flap 5- touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8030651750399511213.mp4"}
+{"uid":"4511742177360886685","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black cable from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black cable from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black cable from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black cable from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: pick the black cable from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object 19- drop the yellow object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black cable from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object 19- drop the yellow object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black cable from the floor 2- release the black cable 3- done\n\u003c/PRED\u003e","video":"17125176952139495325.mp4"}
+{"uid":"68125163196414321","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange object in the cardboard box 2- drop the black object in the cardboard box 3- move your arm close to the yellow object on the floor 4- pick the yellow object 5- drop the yellow object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange object in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e","video":"5286831852804489122.mp4"}
+{"uid":"1823792728282803799","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the can 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":"16733062250180430158.mp4"}
+{"uid":"12987873349215623332","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet in the cardboard box 2- pick the yellow object 3- drop the yellow object in the cardboard box 4- pick the black cable 5- release the black cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8829847240248795023.mp4"}
+{"uid":"15975835910982440031","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14022088825915289862.mp4"}
+{"uid":"11952330240499392206","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf Q: immediate next step? \u003cPRED\u003eA: place the clock toy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the clock toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the clock toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the clock toy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the clock toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the clock toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the clock toy on the table 2- clean the clock toy with the wipe 3- place the clock toy in the shelf 4- done\n\u003c/PRED\u003e","video":"2227590172509240719.mp4"}
+{"uid":"4942889622676955849","text":"\u003ctask:success:discrete:True\u003e\npick the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e","video":"16181232196890900618.mp4"}
+{"uid":"13531324548677996852","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the bottom brown object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"842478764602898665.mp4"}
+{"uid":"17819260484503975868","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":"7249400420440434556.mp4"}
+{"uid":"4187597912545304630","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the cardboard box top flap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: open the cardboard box top flap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cardboard box top flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the cardboard box top flap 2- slightly move the cardboard box 3- slightly move forward 4- open the cardboard box bottom flap 5- touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard box top flap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cardboard box top flap\n\u003c/PRED\u003e","video":"4413901924412462682.mp4"}
+{"uid":"7556199034578504618","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3900562770049809054.mp4"}
+{"uid":"9854032534607214060","text":"\u003ctask:success:discrete:False\u003e\ntouch the bottom flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the bottom flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap Q: next 5 steps? \u003cPRED\u003eA: 1- touch the bottom flap 2- slightly move the cardboard box 3- slightly move forward 4- open the cardboard box bottom flap 5- touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap Q: immediate next step? \u003cPRED\u003eA: touch the bottom flap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the bottom flap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the bottom flap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: touch the bottom flap\n\u003c/PRED\u003e","video":"3120485455239697373.mp4"}
+{"uid":"15853372626217925524","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the clock toy with the wipe\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the clock toy with the wipe\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the clock toy 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\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf Q: immediate next step? \u003cPRED\u003eA: clean the clock toy with the wipe\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- clean the clock toy with the wipe 2- place the clock toy in the shelf 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock toy on the table Q: immediate next step? \u003cPRED\u003eA: clean the clock toy with the wipe\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the clock toy 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","video":"11535757294509182935.mp4"}
+{"uid":"16039659638663014723","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the bottom flap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch the bottom flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the bottom flap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the bottom flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- touch the bottom flap 2- slightly move the cardboard box 3- slightly move forward 4- open the cardboard box bottom flap 5- touch the cardboard box right flap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: touch the bottom flap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: touch the bottom flap\n\u003c/PRED\u003e","video":"14189345498697288884.mp4"}
+{"uid":"12864001485510198054","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sixth 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":"4766119317304589422.mp4"}
+{"uid":"6196228491058950132","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange object in the cardboard box 2- pick the orange object from the floor 3- drop the orange object in the cardboard box 4- pick the yellow packet which is right to the blue object 5- drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange object in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e","video":"11398425653533860782.mp4"}
+{"uid":"14560310271891537831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the door handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14931405657199419743.mp4"}
+{"uid":"12965790722501293738","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":"13566322523924954265.mp4"}
+{"uid":"11688688697733470839","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- open the cardboard box bottom flap 2- slightly move back 3- slightly move forward 4- pick a orange object 5- move your arm downwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard box bottom flap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cardboard box bottom flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cardboard box bottom flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward Q: immediate next step? \u003cPRED\u003eA: open the cardboard box bottom flap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cardboard box bottom flap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: open the cardboard box bottom flap\n\u003c/PRED\u003e","video":"6891649009077545614.mp4"}
+{"uid":"5593435927504354376","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"159937471801731151.mp4"}
+{"uid":"16379822850404468871","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black object from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black object from the floor 2- move your arm close to the yellow object on the floor 3- pick the yellow object 4- drop the yellow object in the cardboard box 5- pick the black cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black object from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black object from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: pick the black object from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black object from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black object from the floor\n\u003c/PRED\u003e","video":"16905771395646145938.mp4"}
+{"uid":"12406038885745970368","text":"\u003ctask:success:discrete:True\u003e\nmove your arm towards the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm towards the cardboard box\n\u003c/PRED\u003e","video":"741470518615855361.mp4"}
+{"uid":"2227581262496448244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange candies 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":"4068937542352731043.mp4"}
+{"uid":"11508446303723094364","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange object from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange object from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange object from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange object from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange object from the floor 2- pick the yellow packet which is right to the blue object 3- drop the black object in the cardboard box 4- move your arm close to the yellow object on the floor 5- pick the yellow object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object Q: immediate next step? \u003cPRED\u003eA: pick the orange object from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: pick the orange object from the floor\n\u003c/PRED\u003e","video":"10620149010575108126.mp4"}
+{"uid":"17172556372313710166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chip bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9780681808397109987.mp4"}
+{"uid":"5789637141720297554","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move forward 2- open the cardboard box bottom flap 3- touch the cardboard box right flap 4- slightly move back 5- slightly move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move 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: slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14852451506374250795.mp4"}
+{"uid":"4403427452543582143","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the orange object from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange object from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange object from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange object from the floor 2- pick the yellow packet which is right to the blue object 3- drop the black object in the cardboard box 4- move your arm close to the yellow object on the floor 5- pick the yellow object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: pick the orange object from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange object from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6867912769111962900.mp4"}
+{"uid":"5091945097400085810","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the yellow object on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm close to the yellow object on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18112358750947281701.mp4"}
+{"uid":"1045625301170822217","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":"1909560708864381228.mp4"}
+{"uid":"5638052312228039438","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: open the cardboard box bottom flap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward Q: immediate next step? \u003cPRED\u003eA: open the cardboard box bottom flap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cardboard box bottom flap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cardboard box bottom flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- open the cardboard box bottom flap 2- touch the cardboard box right flap 3- slightly move back 4- slightly move forward 5- pick a orange object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cardboard box bottom flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard box bottom flap\n\u003c/PRED\u003e","video":"17250398987367439366.mp4"}
+{"uid":"14489529367973091514","text":"\u003ctask:success:discrete:False\u003e\nslightly move 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: slightly move forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move forward 2- open the cardboard box bottom flap 3- touch the cardboard box right flap 4- slightly move back 5- slightly move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e","video":"10981192227247817530.mp4"}
+{"uid":"14322971489407046913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange 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":"7976945966083049033.mp4"}
+{"uid":"12407573881824734075","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the black cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the black cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the black cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object 19- drop the yellow object in the cardboard box 20- pick the black cable Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the black cable 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: move your arm towards the black cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object 19- drop the yellow object in the cardboard box 20- pick the black cable Q: immediate next step? \u003cPRED\u003eA: move your arm towards the black cable\n\u003c/PRED\u003e","video":"2429925864980275029.mp4"}
+{"uid":"3084100554815589004","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cardboard box top flap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the cardboard box top flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5190827492601325329.mp4"}
+{"uid":"3742086152134493792","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the clock toy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the clock toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10871411595689089883.mp4"}
+{"uid":"1794497549805180451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the right indoor plant downwards. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16649800041622064093.mp4"}
+{"uid":"7728778766065051347","text":"\u003ctask:success:discrete:False\u003e\ngrab a orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab a orange object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab a orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- grab a orange object 2- grab the orange object which is on the blue object 3- drop the orange object in the cardboard box 4- pick the orange object from the floor 5- drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab a orange object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: grab a orange object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward Q: immediate next step? \u003cPRED\u003eA: grab a orange object\n\u003c/PRED\u003e","video":"7625073566453668029.mp4"}
+{"uid":"11448008724339524028","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the yellow packet on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the yellow packet on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the yellow packet on the floor 2- pick the yellow object 3- drop the yellow object in the cardboard box 4- pick the black cable 5- release the black cable\n\u003c/PRED\u003e\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: move your arm close to the yellow packet on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the yellow packet on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the yellow packet on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: move your arm close to the yellow packet on the floor\n\u003c/PRED\u003e","video":"13584506947562028792.mp4"}
+{"uid":"16504831123896409545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the bottom 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":"16535266051448430037.mp4"}
+{"uid":"15904452827809002435","text":"\u003ctask:success:discrete:False\u003e\ngrab the yellow object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the yellow object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: grab the yellow object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- grab the yellow object 2- drop the yellow object in the cardboard box 3- pick the black cable 4- release the black cable 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: grab the yellow object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the yellow object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the yellow object\n\u003c/PRED\u003e","video":"15040808803550116052.mp4"}
+{"uid":"4004841852415956328","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the black cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: release the black cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the black cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object 19- drop the yellow object in the cardboard box 20- pick the black cable Q: next 5 steps? \u003cPRED\u003eA: 1- release the black cable 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor 18- pick the yellow object 19- drop the yellow object in the cardboard box 20- pick the black cable Q: immediate next step? \u003cPRED\u003eA: release the black cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the black cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16111248553292963728.mp4"}
+{"uid":"17057223968914874967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15118008116730561885.mp4"}
+{"uid":"9747214656620519041","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the orange cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the orange cable 2- move your arm downwards 3- grab the orange object which is on the blue object 4- drop the orange object in the cardboard box 5- pick the orange object from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap Q: immediate next step? \u003cPRED\u003eA: move towards the orange cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: move towards the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the orange cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3051820374583162477.mp4"}
+{"uid":"1175505147908853638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput circle in the drawer set Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13801180511883531790.mp4"}
+{"uid":"11540848926990815151","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow object in the cardboard box 2- release the black cable 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor 14- drop the orange object in the cardboard box 15- pick the yellow packet which is right to the blue object 16- drop the black object in the cardboard box 17- move your arm close to the yellow object on the floor Q: immediate next step? \u003cPRED\u003eA: drop the yellow object in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: drop the yellow object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow object in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow object in the cardboard box\n\u003c/PRED\u003e","video":"14440432124344704143.mp4"}
+{"uid":"12411873449712848188","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace yellow candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17862258636366551906.mp4"}
+{"uid":"4984654148600614461","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the cardboard box\n\u003c/PRED\u003e","video":"4148811966856823423.mp4"}
+{"uid":"8688063777296006825","text":"\u003ctask:success:discrete:True\u003e\ngrab the yellow object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the yellow object\n\u003c/PRED\u003e","video":"3907271357327960284.mp4"}
+{"uid":"7951771422701561145","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachio nut glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15059969809542649540.mp4"}
+{"uid":"5275541923466370292","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nslightly move 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":"4326297445782798355.mp4"}
+{"uid":"6613255034946973059","text":"\u003ctask:success:discrete:False\u003e\nslightly move back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move back 2- open the cardboard box bottom flap 3- touch the cardboard box right flap 4- slightly move back 5- slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap Q: immediate next step? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e","video":"10518039329645367225.mp4"}
+{"uid":"5089059716933475903","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the cardboard box 2- slightly move forward 3- pick a orange object 4- move your arm downwards 5- grab the orange object which is on the blue object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cardboard box\n\u003c/PRED\u003e","video":"17234866859362726334.mp4"}
+{"uid":"17862910881759671544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick a 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":"18265686924733726954.mp4"}
+{"uid":"11535345220192800748","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the orange object which is on the blue object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the orange object which is on the blue object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10197951307550364198.mp4"}
+{"uid":"8762915673278668386","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12411380870296050611.mp4"}
+{"uid":"17930625654236131319","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object Q: immediate next step? \u003cPRED\u003eA: pick the orange object close to the blue object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange object close to the blue object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange object close to the blue object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange object close to the blue object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange object close to the blue object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange object close to the blue object 2- pick the yellow packet which is right to the blue object 3- drop the black object in the cardboard box 4- move your arm close to the yellow object on the floor 5- pick the yellow object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: pick the orange object close to the blue object\n\u003c/PRED\u003e","video":"15632628515267587638.mp4"}
+{"uid":"16919430002053216776","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange object in the cardboard box 2- drop the orange object in the cardboard box 3- pick the yellow packet which is right to the blue object 4- drop the black object in the cardboard box 5- move your arm close to the yellow object on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e","video":"7112371349295624458.mp4"}
+{"uid":"15651824897241773791","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cardboard box bottom flap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the cardboard box bottom flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8417487791537324207.mp4"}
+{"uid":"12561334806021258538","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":"16308660362824912575.mp4"}
+{"uid":"16592654503005523642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16014415311556330750.mp4"}
+{"uid":"3554331776793273663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3192333117507484314.mp4"}
+{"uid":"5035555140053607829","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab a orange object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab a orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3711540212363680025.mp4"}
+{"uid":"10749977632709301832","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the yellow highlighter into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8230012250036383808.mp4"}
+{"uid":"8961334140012787622","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the clock toy in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the clock toy in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the clock toy in the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock toy on the table 2- clean the clock toy with the wipe Q: next 5 steps? \u003cPRED\u003eA: 1- place the clock toy in the shelf 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf Q: immediate next step? \u003cPRED\u003eA: place the clock toy in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the robot clock off the shelf and wipe the dust down with a lysol than put it back on the shelf. last 20 steps: 1- place the clock toy on the table 2- clean the clock toy with the wipe Q: immediate next step? \u003cPRED\u003eA: place the clock toy in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the clock toy in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3767007911074817224.mp4"}
+{"uid":"10929330982709766823","text":"\u003ctask:success:discrete:True\u003e\nopen the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e","video":"9336292022936888302.mp4"}
+{"uid":"14035349705524759710","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick a black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor Q: immediate next step? \u003cPRED\u003eA: pick a black object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a black object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: pick a black object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a black object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the floor into the box. last 20 steps: 1- open the cardboard box top flap 2- touch the bottom flap 3- slightly move the cardboard box 4- slightly move forward 5- open the cardboard box bottom flap 6- touch the cardboard box right flap 7- slightly move back 8- slightly move forward 9- pick a orange object 10- move your arm downwards 11- grab the orange object which is on the blue object 12- drop the orange object in the cardboard box 13- pick the orange object from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick a black object 2- move your arm close to the yellow object on the floor 3- pick the yellow object 4- drop the yellow object in the cardboard box 5- pick the black cable\n\u003c/PRED\u003e","video":"12799951980929707965.mp4"}