diff --git "a/json/train/data-00010-of-00160.json" "b/json/train/data-00010-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00010-of-00160.json"
@@ -0,0 +1,1595 @@
+{"uid":"8584868035363587415","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cup 2- put black pen in the cup 3- put black pen in the cup 4- put blue pen in the cup 5- put black pen in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e","video":"10116636578963188569.mp4"}
+{"uid":"18077473380861424620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18092852356849914429.mp4"}
+{"uid":"5583520324422169960","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":"2065100670426653825.mp4"}
+{"uid":"8749344141042201674","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cup 2- put blue pen in the cup 3- put blue pen in the cup 4- put blue pen in the cup 5- put black pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3743717730804137252.mp4"}
+{"uid":"3189987875231822398","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup 12- put blue pen in the cup 13- put black pen in the cup 14- adjust the pens 15- put blue pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cup 2- put black pen in the cup 3- put blue pen in the cup 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup 12- put blue pen in the cup 13- put black pen in the cup 14- adjust the pens 15- put blue pen in the cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7449838940242603605.mp4"}
+{"uid":"5202792427207630779","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the cup 2- put black pen in the cup 3- put blue pen in the cup 4- put blue pen in the cup 5- put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e","video":"667757874183055239.mp4"}
+{"uid":"18388918639388167573","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":"4218663651805001593.mp4"}
+{"uid":"16717104748185192015","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: adjust the pens\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup 12- put blue pen in the cup 13- put black pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the pens 2- put blue pen in the cup 3- put blue pen in the cup 4- put black pen in the cup 5- put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the pens\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup 12- put blue pen in the cup 13- put black pen in the cup Q: immediate next step? \u003cPRED\u003eA: adjust the pens\n\u003c/PRED\u003e","video":"5864304896406369622.mp4"}
+{"uid":"12550352632305073911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the black date Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13344032795388600297.mp4"}
+{"uid":"17809113053252736208","text":"\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the plate on the table 3- place the brush on the table 4- place the glass upright on the table 5- place the glass on the left side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9156396574036860879.mp4"}
+{"uid":"9578520068558992488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8127443586509247407.mp4"}
+{"uid":"2145132399861930460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPour the black pepper 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":"15630132554500080113.mp4"}
+{"uid":"15120213600072012098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue 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":"9828813389065177292.mp4"}
+{"uid":"2352976636173484880","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13127065739691737540.mp4"}
+{"uid":"9834224831102268286","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the black jacket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10472828094572305661.mp4"}
+{"uid":"8996217748505535956","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the cup 2- put black pen in the cup 3- put black pen in the cup 4- put blue pen in the cup 5- put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e","video":"13604916252227101041.mp4"}
+{"uid":"4069967026885250222","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11051252545775792966.mp4"}
+{"uid":"702654310657302684","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put black pen in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e","video":"14315585254834443915.mp4"}
+{"uid":"4729289217953245354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10685707194439359329.mp4"}
+{"uid":"7457805770703415551","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup 12- put blue pen in the cup 13- put black pen in the cup 14- adjust the pens Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put blue pen in the cup 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup 12- put blue pen in the cup 13- put black pen in the cup 14- adjust the pens Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"442656487574320646.mp4"}
+{"uid":"8624986969520743615","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup 12- put blue pen in the cup 13- put black pen in the cup 14- adjust the pens 15- put blue pen in the cup 16- put blue pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the cup 2- put blue pen in the cup 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup 12- put blue pen in the cup 13- put black pen in the cup 14- adjust the pens 15- put blue pen in the cup 16- put blue pen in the cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e","video":"14394601202883111547.mp4"}
+{"uid":"16478551829666466302","text":"\u003ctask:success:discrete:False\u003e\nplace the plate 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 plate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the plate on the table 2- place the brush on the table 3- place the glass upright on the table 4- place the glass on the left side of the table 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the plate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk Q: immediate next step? \u003cPRED\u003eA: place the plate on the table\n\u003c/PRED\u003e","video":"12567476685549199846.mp4"}
+{"uid":"11014210029050522259","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup 12- put blue pen in the cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup 12- put blue pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the cup 2- adjust the pens 3- put blue pen in the cup 4- put blue pen in the cup 5- put black pen in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15355045871283600035.mp4"}
+{"uid":"18055023657166010403","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white chocolate ball in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10887523354303423733.mp4"}
+{"uid":"17934313619795810656","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk Q: immediate next step? \u003cPRED\u003eA: place the glass upright on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the brush on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass upright on the table 2- place the glass on the left side of the table 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the brush on the table Q: immediate next step? \u003cPRED\u003eA: place the glass upright on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass upright on the table\n\u003c/PRED\u003e","video":"13588670489447275578.mp4"}
+{"uid":"8791190931400856282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6416944756140881227.mp4"}
+{"uid":"4651725545608099612","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the brush on the table 4- place the glass upright on the table 5- place the glass on the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the brush on the table 4- place the glass upright on the table 5- place the glass on the left side of the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"16752390779458125467.mp4"}
+{"uid":"11850784130760721931","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- adjust the pens 5- put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e","video":"16371705181794311075.mp4"}
+{"uid":"6608364900859619535","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cup 2- put blue pen in the cup 3- put blue pen in the cup 4- put black pen in the cup 5- adjust the pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e","video":"12449996730408283707.mp4"}
+{"uid":"11595284703694967928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16376932593660023416.mp4"}
+{"uid":"89974131870326738","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cup 2- put black pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e","video":"3275409757655608605.mp4"}
+{"uid":"12501085375805001388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9698811164180892138.mp4"}
+{"uid":"9758186423240065334","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the brush on the table 4- place the glass upright on the table 5- place the glass on the left side of the table 6- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the brush on the table 4- place the glass upright on the table 5- place the glass on the left side of the table 6- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7838743539758596656.mp4"}
+{"uid":"14051037846712213953","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup 12- put blue pen in the cup 13- put black pen in the cup 14- adjust the pens 15- put blue pen in the cup 16- put blue pen in the cup 17- put black pen in the cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup 12- put blue pen in the cup 13- put black pen in the cup 14- adjust the pens 15- put blue pen in the cup 16- put blue pen in the cup 17- put black pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e","video":"12925932769365311259.mp4"}
+{"uid":"2901907461061453391","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pink 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":"13334292699765016427.mp4"}
+{"uid":"8396175627355645035","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: 1- open the drawer 2- place the plate on the table Q: immediate next step? \u003cPRED\u003eA: place the brush on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brush on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brush on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: 1- open the drawer 2- place the plate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the brush on the table 2- place the glass upright on the table 3- place the glass on the left side of the table 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk Q: immediate next step? \u003cPRED\u003eA: place the brush on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brush on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brush on the table\n\u003c/PRED\u003e","video":"3747718141308027732.mp4"}
+{"uid":"12867858675892805933","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the cup 2- put black pen in the cup 3- adjust the pens 4- put blue pen in the cup 5- put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup 8- put black pen in the cup 9- put blue pen in the cup 10- put blue pen in the cup 11- put blue pen in the cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the cup\n\u003c/PRED\u003e","video":"15061520518590848633.mp4"}
+{"uid":"14490067669725893214","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17248141036229867414.mp4"}
+{"uid":"4089737397472064681","text":"\u003ctask:success:discrete:True\u003e\nplace the plate on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plate on the table\n\u003c/PRED\u003e","video":"14411873819415381880.mp4"}
+{"uid":"2248662829031072228","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":"16719994927635207001.mp4"}
+{"uid":"8515423825962138335","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass on the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass on the left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass on the left side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass on the left side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the brush on the table 4- place the glass upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass on the left side of the table 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk Q: immediate next step? \u003cPRED\u003eA: place the glass on the left side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the drawer and take out all green items and place it on the desk. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the brush on the table 4- place the glass upright on the table Q: immediate next step? \u003cPRED\u003eA: place the glass on the left side of the table\n\u003c/PRED\u003e","video":"1735319074265887330.mp4"}
+{"uid":"7682998709992541234","text":"\u003ctask:success:discrete:True\u003e\nplace the glass upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass upright on the table\n\u003c/PRED\u003e","video":"8216526849468895250.mp4"}
+{"uid":"17375004561527590195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16343288856394724442.mp4"}
+{"uid":"16711903555380212678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13819000150927897166.mp4"}
+{"uid":"496786919584908565","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brush on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the brush 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":"1179747477526556128.mp4"}
+{"uid":"12956286309144326904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13452808216024296888.mp4"}
+{"uid":"10612001588887342714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7899669066893968340.mp4"}
+{"uid":"1000527787539398555","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2329481127031730240.mp4"}
+{"uid":"11832095776235439508","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup 3- put black pen in the cup 4- put black pen in the cup 5- put blue pen in the cup 6- put black pen in the cup 7- put black pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the cup 2- put blue pen in the cup 3- put blue pen in the cup 4- put blue pen in the cup 5- put blue pen in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e","video":"17788676686583167102.mp4"}
+{"uid":"12066194340641279450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9194048126256780452.mp4"}
+{"uid":"6510115441756029150","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the cup 2- put black pen in the cup 3- put blue pen in the cup 4- put black pen in the cup 5- put black pen in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the pens into the cup by color. last 20 steps: 1- put black pen in the cup 2- put blue pen in the cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the cup\n\u003c/PRED\u003e","video":"5870064776667082943.mp4"}
+{"uid":"3134812405190534567","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can 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":"17601576151573541524.mp4"}
+{"uid":"1438368541105802430","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- put the apple in the bowl 4- Put an apple in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- put the apple in the bowl 4- Put an apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15076220437221330396.mp4"}
+{"uid":"6192160415361051515","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":"12832947061237773863.mp4"}
+{"uid":"11035919086027755807","text":"\u003ctask:success:discrete:True\u003e\nOpen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e","video":"2414073768134634231.mp4"}
+{"uid":"16473648248344617580","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15921372394791882434.mp4"}
+{"uid":"16637222728150494260","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint water from Mk fridge to mk desk. last 20 steps: 1- open the fridge Q: immediate next step? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint water from Mk fridge to mk desk Q: immediate next step? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput water bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput water bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint water from Mk fridge to mk desk. last 20 steps: 1- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- put water bottle on the table 2- done\n\u003c/PRED\u003e","video":"8684204386507741738.mp4"}
+{"uid":"14020527538079872015","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":"5722008320928117899.mp4"}
+{"uid":"6901358832487662794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17914575057080779980.mp4"}
+{"uid":"410472342007170818","text":"\u003ctask:success:discrete:False\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- Put the apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"13870541432071516473.mp4"}
+{"uid":"10678879311283973530","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8045193994094755038.mp4"}
+{"uid":"2402915676715278801","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box Q: immediate next step? \u003cPRED\u003eA: keep the wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box Q: next 5 steps? \u003cPRED\u003eA: 1- keep the wire in the box 2- Drop the marker into the box 3- put the white box in the in the box 4- put the pen holder in the box 5- drop the wipes packet into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: keep the wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the wire in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10912598376832656028.mp4"}
+{"uid":"6110528055154226904","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the white box in the in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white box in the in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white box in the in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white box in the in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box Q: immediate next step? \u003cPRED\u003eA: put the white box in the in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the white box in the in the box 2- put the pen holder in the box 3- drop the wipes packet into the box 4- put the tissue box in the box 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white box in the in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4339023779631521416.mp4"}
+{"uid":"14592842028655310461","text":"\u003ctask:success:discrete:True\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- put the apple in the bowl 4- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- put the apple in the bowl 4- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9935211554086141490.mp4"}
+{"uid":"5037158762105336139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5593698264400498092.mp4"}
+{"uid":"1699771076597369176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow 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":"489279914219262184.mp4"}
+{"uid":"1599827877957487406","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple into the box 2- keep the duster in the box 3- Drop the bowl into the box 4- Drop the black wire into the box 5- Drop the marker into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box Q: immediate next step? \u003cPRED\u003eA: Put the apple into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the apple into the box\n\u003c/PRED\u003e","video":"9168079950374325195.mp4"}
+{"uid":"17602203470243000683","text":"\u003ctask:success:discrete:False\u003e\nput the tissue box in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue box in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue box in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box 8- put the pen holder in the box 9- drop the wipes packet into the box Q: immediate next step? \u003cPRED\u003eA: put the tissue box in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the tissue box in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue box in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box 8- put the pen holder in the box 9- drop the wipes packet into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue box in the box 2- done\n\u003c/PRED\u003e","video":"15204191707894200807.mp4"}
+{"uid":"16428829611112969968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3489252404073035296.mp4"}
+{"uid":"11465258517157027468","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box 8- put the pen holder in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the wipes packet into the box 2- put the tissue box in the box 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the wipes packet into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the wipes packet into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the wipes packet into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the wipes packet into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box 8- put the pen holder in the box Q: immediate next step? \u003cPRED\u003eA: drop the wipes packet into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the wipes packet into the box\n\u003c/PRED\u003e","video":"2637880150212489018.mp4"}
+{"uid":"2077789341640472099","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen holder into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen holder into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen holder into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen holder into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the pen holder into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box Q: immediate next step? \u003cPRED\u003eA: Drop the pen holder into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen holder into the box 2- drop the wipes packet into the box 3- put the tissue box in the box 4- done\n\u003c/PRED\u003e","video":"5545874516350267904.mp4"}
+{"uid":"16784571297153287564","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e","video":"14216312492626013594.mp4"}
+{"uid":"16946586470632353383","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint water from Mk fridge to mk desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint water from Mk fridge to mk desk. last 20 steps: 1- open the fridge 2- put water bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint water from Mk fridge to mk desk. last 20 steps: 1- open the fridge 2- put water bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput water bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put water bottle on the table\n\u003c/PRED\u003e","video":"14310427614855762379.mp4"}
+{"uid":"8350983257342148558","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box Q: immediate next step? \u003cPRED\u003eA: keep the marker in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the marker in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: keep the marker in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- keep the marker in the box 2- put the white box in the in the box 3- put the pen holder in the box 4- drop the wipes packet into the box 5- put the tissue box in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the marker in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the marker in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the marker in the box\n\u003c/PRED\u003e","video":"5849839943723238788.mp4"}
+{"uid":"9052759302016856241","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2815936715102699402.mp4"}
+{"uid":"6408145113597090361","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples in the bowl Q: immediate next step? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an apple in the bowl 2- put the apple in the bowl 3- Put the apple in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e","video":"17396065894333888901.mp4"}
+{"uid":"2731145316690116956","text":"\u003ctask:success:discrete:True\u003e\nput the white box in the in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white box in the in the box\n\u003c/PRED\u003e","video":"3072504327529447520.mp4"}
+{"uid":"14367021312004107427","text":"\u003ctask:success:discrete:False\u003e\nDrop the marker into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the marker into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box Q: immediate next step? \u003cPRED\u003eA: Drop the marker into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the marker into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the marker into the box 2- put the white box in the in the box 3- put the pen holder in the box 4- drop the wipes packet into the box 5- put the tissue box in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the marker into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the marker into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15321838795866483120.mp4"}
+{"uid":"15229454141847805653","text":"\u003ctask:success:discrete:True\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"6869652301618655439.mp4"}
+{"uid":"8096027056018157906","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- put the apple in the bowl 3- Put the apple in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"17547271628789100784.mp4"}
+{"uid":"3202626420115744572","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples in the bowl Q: immediate next step? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e","video":"16636691819150375221.mp4"}
+{"uid":"13348571528248306034","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the duster in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the duster in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box Q: next 5 steps? \u003cPRED\u003eA: 1- keep the duster in the box 2- Drop the bowl into the box 3- Drop the black wire into the box 4- Drop the marker into the box 5- put the white box in the in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: keep the duster in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the duster in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box Q: immediate next step? \u003cPRED\u003eA: keep the duster in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the duster in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"672335064671415770.mp4"}
+{"uid":"8841809048207391165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15655609009797140753.mp4"}
+{"uid":"17086206900347540906","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"692104363121904136.mp4"}
+{"uid":"10116977540427848612","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box Q: immediate next step? \u003cPRED\u003eA: Drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the black wire into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black wire into the box 2- Drop the marker into the box 3- put the white box in the in the box 4- put the pen holder in the box 5- drop the wipes packet into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the black wire into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the black wire into the box\n\u003c/PRED\u003e","video":"7107616564629878904.mp4"}
+{"uid":"15117532944065509017","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the wipes packet into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the wipes packet into the box\n\u003c/PRED\u003e","video":"6514639370428188706.mp4"}
+{"uid":"11913109998799611194","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"16636714090725830160.mp4"}
+{"uid":"17135006854423304524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the lid on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17533632210695397020.mp4"}
+{"uid":"11513911830509260919","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e","video":"18127228864722025191.mp4"}
+{"uid":"16129578984205008350","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the marker into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the marker into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11423975476637645579.mp4"}
+{"uid":"1076389737525306843","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the box 2- keep the duster in the box 3- Drop the bowl into the box 4- Drop the black wire into the box 5- Drop the marker into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the apple in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box Q: immediate next step? \u003cPRED\u003eA: put the apple in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17863562547368573637.mp4"}
+{"uid":"15679277100683320810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2528374760542652539.mp4"}
+{"uid":"8633655112106844059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets 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":"3559566215005987933.mp4"}
+{"uid":"5086898258928603121","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- put the apple in the bowl 3- Put the apple in the bowl 4- done\n\u003c/PRED\u003e","video":"10352846094860450606.mp4"}
+{"uid":"11768005972269554801","text":"\u003ctask:success:discrete:True\u003e\nOpen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e","video":"8465075492008145830.mp4"}
+{"uid":"18334487842485608472","text":"\u003ctask:success:discrete:True\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"13314578450544676965.mp4"}
+{"uid":"13868547333172418649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes 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":"13077160250310179910.mp4"}
+{"uid":"9606058776426836683","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the black wire into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15155796021850922124.mp4"}
+{"uid":"9839100300810818963","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen left side of 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":"3801474687102930082.mp4"}
+{"uid":"16772660041927847233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass upright 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":"5154876443268327808.mp4"}
+{"uid":"14254942135578879715","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":"14654747106335392888.mp4"}
+{"uid":"1817857598577490284","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":"17233286130957569995.mp4"}
+{"uid":"9772214160594697337","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18311355635871105885.mp4"}
+{"uid":"13859459665992493506","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl into the box 2- Drop the black wire into the box 3- Drop the marker into the box 4- put the white box in the in the box 5- put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the bowl into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box Q: immediate next step? \u003cPRED\u003eA: Drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bowl into the box 2- Drop the black wire into the box 3- Drop the marker into the box 4- put the white box in the in the box 5- put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bowl into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bowl into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box Q: immediate next step? \u003cPRED\u003eA: Put the bowl into the box\n\u003c/PRED\u003e","video":"14652576318646464447.mp4"}
+{"uid":"6576037488536385394","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the sponge into the box 2- Drop the bowl into the box 3- Drop the black wire into the box 4- Drop the marker into the box 5- put the white box in the in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the sponge into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the sponge into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the sponge into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box Q: immediate next step? \u003cPRED\u003eA: Drop the sponge into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the sponge into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the sponge into the box\n\u003c/PRED\u003e","video":"5387412431541111500.mp4"}
+{"uid":"13730691256049909866","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop an apple into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box Q: immediate next step? \u003cPRED\u003eA: Drop an apple into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop an apple into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop an apple into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop an apple into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop an apple into the box 2- keep the duster in the box 3- Drop the bowl into the box 4- Drop the black wire into the box 5- Drop the marker into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop an apple into the box\n\u003c/PRED\u003e","video":"11901628473432276828.mp4"}
+{"uid":"12848603017829788314","text":"\u003ctask:success:discrete:True\u003e\nopen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e","video":"3338807978758645964.mp4"}
+{"uid":"9119408021268532943","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6271953658243909461.mp4"}
+{"uid":"5229598481548097431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink sugar candy 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":"11093020174487793393.mp4"}
+{"uid":"16779451293807595610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2357719752959531799.mp4"}
+{"uid":"4498668519191795879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the papers 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":"9860587335250682660.mp4"}
+{"uid":"13271523910258825065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12758317585253734536.mp4"}
+{"uid":"1305866036285151970","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glue stick 2- put the white box in the in the box 3- put the pen holder in the box 4- drop the wipes packet into the box 5- put the tissue box in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glue stick Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 glue stick\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glue stick\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box Q: immediate next step? \u003cPRED\u003eA: Put the glue stick\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the glue stick\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glue stick Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12626162020499073215.mp4"}
+{"uid":"9720990731219248283","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12233917912096430825.mp4"}
+{"uid":"17943240258585275420","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork in the right side 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":"15820317879159888364.mp4"}
+{"uid":"12247779512269685448","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box Q: immediate next step? \u003cPRED\u003eA: Drop the cube into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cube into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cube into the box 2- put the pen holder in the box 3- drop the wipes packet into the box 4- put the tissue box in the box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the cube into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the cube into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the cube into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cube into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11060148928011031132.mp4"}
+{"uid":"7858784918353078903","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box 8- put the pen holder in the box 9- drop the wipes packet into the box 10- put the tissue box in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the tissue box in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box 8- put the pen holder in the box 9- drop the wipes packet into the box 10- put the tissue box in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue box in the box\n\u003c/PRED\u003e","video":"7032594458242745868.mp4"}
+{"uid":"3320009515397957186","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2164751475169719528.mp4"}
+{"uid":"4062160015362326452","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput box in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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":"17404111757241319246.mp4"}
+{"uid":"5050252650325728318","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an apple in the bowl 2- Put the apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples in the bowl Q: immediate next step? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e","video":"6418242616761128117.mp4"}
+{"uid":"16096970281032926064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14136130295403194034.mp4"}
+{"uid":"2930157183125631799","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17762666033444934361.mp4"}
+{"uid":"12329749915211024060","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4518240643257440553.mp4"}
+{"uid":"1677538277053279731","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"9736318744896183455.mp4"}
+{"uid":"7048354219092959400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tissue paper 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":"10265140813755756383.mp4"}
+{"uid":"9068523647531450023","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen holder in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box Q: immediate next step? \u003cPRED\u003eA: put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen holder in the box 2- drop the wipes packet into the box 3- put the tissue box in the box 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen holder in the box\n\u003c/PRED\u003e","video":"7795918924137473157.mp4"}
+{"uid":"4831974234430933938","text":"\u003ctask:success:discrete:True\u003e\nDrop an apple into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop an apple into the box\n\u003c/PRED\u003e","video":"6080794226897105652.mp4"}
+{"uid":"3051447249249858096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11296253979083365907.mp4"}
+{"uid":"4501008094646155733","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- put the apple in the bowl 4- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- put the apple in the bowl 4- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"18318155946373451432.mp4"}
+{"uid":"12958606888739998788","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white cube into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the white cube into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box Q: immediate next step? \u003cPRED\u003eA: Put the white cube into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white cube into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white cube into the box 2- put the pen holder in the box 3- drop the wipes packet into the box 4- put the tissue box in the box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white cube into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white cube into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10277578743710885299.mp4"}
+{"uid":"1228728858326324903","text":"\u003ctask:success:discrete:False\u003e\nPut the cable into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cable into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box Q: immediate next step? \u003cPRED\u003eA: Put the cable into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cable into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the cable into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cable into the box 2- Drop the marker into the box 3- put the white box in the in the box 4- put the pen holder in the box 5- drop the wipes packet into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cable into the box\n\u003c/PRED\u003e","video":"13816596717299559441.mp4"}
+{"uid":"2263637021979351484","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e","video":"6689998025721930357.mp4"}
+{"uid":"6184407841511671687","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples in the bowl Q: immediate next step? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9329983529608759461.mp4"}
+{"uid":"13943852701631506233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper cups in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17059161195816851541.mp4"}
+{"uid":"9097964104319885180","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16290425129444333568.mp4"}
+{"uid":"383700529247396538","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box 8- put the pen holder in the box 9- drop the wipes packet into the box Q: immediate next step? \u003cPRED\u003eA: Put the tissue box into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the tissue box into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue box into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tissue box into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue box into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box 8- put the pen holder in the box 9- drop the wipes packet into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue box into the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue box into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5809758863491642740.mp4"}
+{"uid":"885897177291650305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the push pin 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":"6605046032811646536.mp4"}
+{"uid":"9066760459347951367","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sponge into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the sponge into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sponge into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box Q: immediate next step? \u003cPRED\u003eA: Put the sponge into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the sponge into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sponge into the box 2- Drop the bowl into the box 3- Drop the black wire into the box 4- Drop the marker into the box 5- put the white box in the in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sponge into the box\n\u003c/PRED\u003e","video":"14267737044775933987.mp4"}
+{"uid":"16870864842356325233","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep the marker in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep the marker in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6741208837134720123.mp4"}
+{"uid":"16309330792688922822","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plastic glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"830396161644859095.mp4"}
+{"uid":"15915514581253184483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10905158651408298536.mp4"}
+{"uid":"8787280525168605981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace ball in Triangle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"937247503956350119.mp4"}
+{"uid":"12108519735896220413","text":"\u003ctask:success:discrete:True\u003e\nput the apple in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the box\n\u003c/PRED\u003e","video":"18255799321762943568.mp4"}
+{"uid":"4556247193240019536","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box 8- put the pen holder in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box 8- put the pen holder in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the box 2- put the tissue box in the box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14930701581017574747.mp4"}
+{"uid":"16503665675037962039","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":"7006631756174837294.mp4"}
+{"uid":"2622954158825990694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack 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":"12863294483094267302.mp4"}
+{"uid":"11136896511458100954","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box Q: next 5 steps? \u003cPRED\u003eA: 1- keep the bowl in the box 2- Drop the black wire into the box 3- Drop the marker into the box 4- put the white box in the in the box 5- put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the bowl in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: keep the bowl in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the bowl in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the bowl in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the bowl in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box Q: immediate next step? \u003cPRED\u003eA: keep the bowl in the box\n\u003c/PRED\u003e","video":"18290107502918321239.mp4"}
+{"uid":"12261245607595743955","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen holder into the box 2- drop the wipes packet into the box 3- put the tissue box in the box 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen holder into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the pen holder into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- Open the box 2- put the apple in the box 3- keep the duster in the box 4- Drop the bowl into the box 5- Drop the black wire into the box 6- Drop the marker into the box 7- put the white box in the in the box Q: immediate next step? \u003cPRED\u003eA: Put the pen holder into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen holder into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen holder into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen holder into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6670434160271968663.mp4"}
+{"uid":"12836543204072332419","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples in the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"452375129623123848.mp4"}
+{"uid":"14593706334169351459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black pen 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":"5788643436958220901.mp4"}
+{"uid":"7476840419056715856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue chocolate ball in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16353118561639721091.mp4"}
+{"uid":"17589032493504401234","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16884197486652132639.mp4"}
+{"uid":"7485118301427419869","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint water from Mk fridge to mk desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint water from Mk fridge to mk desk Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint water from Mk fridge to mk desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- put water bottle on the table 3- done\n\u003c/PRED\u003e","video":"16845104557545019308.mp4"}
+{"uid":"12040017073482751709","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy bowl on the 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":"9560745516851005070.mp4"}
+{"uid":"11351973979448566447","text":"\u003ctask:success:discrete:True\u003e\nput white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e","video":"5439599963831169802.mp4"}
+{"uid":"14568867754218967700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6398676175882301468.mp4"}
+{"uid":"10592405985337911899","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the box 2- put white packets in the box 3- arrange packets in the tray 4- put white packet in the box 5- put white packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e","video":"3986825016644468668.mp4"}
+{"uid":"10230906351471662428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink chocolate into 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":"2810295642843499900.mp4"}
+{"uid":"1750262067878887120","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13621615501689961729.mp4"}
+{"uid":"17664538104492703675","text":"\u003ctask:success:discrete:True\u003e\nput white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e","video":"7240135815292633148.mp4"}
+{"uid":"678266522675998497","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the box 2- put white packet in the box 3- put white packets in the box 4- put white packet in the box 5- put white packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e","video":"5554606132051363216.mp4"}
+{"uid":"5745678613717482395","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the box 2- put white packet in the box 3- put white packet in the box 4- put white packet in the box 5- put white packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e","video":"13025639694434060137.mp4"}
+{"uid":"10505867287160202627","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16171164704907464202.mp4"}
+{"uid":"1008420005591512482","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the box 2- put white packet in the box 3- put white packet in the box 4- put white packet in the box 5- put white packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17624548226307469891.mp4"}
+{"uid":"15397201684803638054","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2014622280160220020.mp4"}
+{"uid":"611817142614048675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pouch upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12539764132947195577.mp4"}
+{"uid":"8873864395544211244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue candy in the right side tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10176015000951070920.mp4"}
+{"uid":"14167751882697872455","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the box 2- put white packet in the box 3- put white packet in the box 4- put white packets in the box 5- arrange packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e","video":"7743872064841921757.mp4"}
+{"uid":"16103242669137411026","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9590666404066902954.mp4"}
+{"uid":"14491794965347989147","text":"\u003ctask:success:discrete:False\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packet in the box 16- put white packets in the box 17- arrange packets in the tray 18- put white packet in the box 19- put white packets in the box 20- put white packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the box 2- arrange packets in the box 3- put white packet in the box 4- put white packets in the box 5- arrange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packet in the box 16- put white packets in the box 17- arrange packets in the tray 18- put white packet in the box 19- put white packets in the box 20- put white packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e","video":"3003040684301828814.mp4"}
+{"uid":"1740029872835731199","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10141473187288366681.mp4"}
+{"uid":"10047875004579040594","text":"\u003ctask:success:discrete:True\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e","video":"7337767841212859551.mp4"}
+{"uid":"906639628805369830","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e","video":"4960724827791243433.mp4"}
+{"uid":"1768359058867414003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the clip in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8849522351647983106.mp4"}
+{"uid":"2908962788378555308","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the box 2- put white packet in the box 3- put white packets in the box 4- arrange packets in the tray 5- put white packet in the box\n\u003c/PRED\u003e","video":"4014208567381457533.mp4"}
+{"uid":"9519635927824174581","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5871002001813907199.mp4"}
+{"uid":"16630446842224501330","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet 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":"12335125108847610339.mp4"}
+{"uid":"7753440112746856536","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: arrange packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- arrange packets to the right of the box 3- move box to the left 4- put white packet in the box 5- put white packets in the box 6- put white packets in the box 7- arrange the packets 8- put white packets in the box 9- put white packet in the box 10- put white packets in the box 11- put white packet in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packets in the box 16- arrange packets in the tray 17- put white packet in the box 18- put white packets in the box 19- put white packet in the box 20- put white packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- arrange packets in the box 2- put white packet in the box 3- put white packets in the box 4- arrange packet in the tray 5- move box to the back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- arrange packets to the right of the box 3- move box to the left 4- put white packet in the box 5- put white packets in the box 6- put white packets in the box 7- arrange the packets 8- put white packets in the box 9- put white packet in the box 10- put white packets in the box 11- put white packet in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packets in the box 16- arrange packets in the tray 17- put white packet in the box 18- put white packets in the box 19- put white packet in the box 20- put white packets in the box Q: immediate next step? \u003cPRED\u003eA: arrange packets in the box\n\u003c/PRED\u003e","video":"10155154202255390827.mp4"}
+{"uid":"8196846254360162100","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7014562729587195235.mp4"}
+{"uid":"13264926058788628896","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box Q: next 5 steps? \u003cPRED\u003eA: 1- move box to the left 2- put white packet in the box 3- put white packets in the box 4- put white packets in the box 5- arrange the packets\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move box to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move box to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: move box to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove box to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box Q: immediate next step? \u003cPRED\u003eA: move box to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove box to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4355911336334535548.mp4"}
+{"uid":"4134210923315306229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2112222809677673392.mp4"}
+{"uid":"10140676152415575581","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the box 2- arrange packets in the tray 3- put white packet in the box 4- put white packets in the box 5- put white packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e","video":"13651764227098031070.mp4"}
+{"uid":"17577100180498620927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15620934047520322965.mp4"}
+{"uid":"10174867022834948165","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packet in the box 16- put white packets in the box 17- arrange packets in the tray 18- put white packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the box 2- put white packet in the box 3- put white packets in the box 4- arrange packets in the box 5- put white packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packet in the box 16- put white packets in the box 17- arrange packets in the tray 18- put white packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e","video":"10748991196192018579.mp4"}
+{"uid":"8900898945829188999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen into 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":"3526843526055943187.mp4"}
+{"uid":"16375436936718234819","text":"\u003ctask:success:discrete:False\u003e\nput white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packet in the box 16- put white packets in the box 17- arrange packets in the tray 18- put white packet in the box 19- put white packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packet in the box 16- put white packets in the box 17- arrange packets in the tray 18- put white packet in the box 19- put white packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the box 2- put white packets in the box 3- arrange packets in the box 4- put white packet in the box 5- put white packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e","video":"16178335003854386552.mp4"}
+{"uid":"16970601402256533112","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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: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\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up 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 alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the packets 2- put white packets in the box 3- put white packet in the box 4- put white packets in the box 5- put white packet in the box\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box Q: immediate next step? \u003cPRED\u003eA: arrange the packets\n\u003c/PRED\u003e","video":"9089196319647414795.mp4"}
+{"uid":"10656880762159766287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1357159177173923838.mp4"}
+{"uid":"12133820921650015284","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- move box to the left 2- put white packet in the box 3- put white packets in the box 4- put white packets in the box 5- arrange the packets 6- put white packets in the box 7- put white packet in the box 8- put white packets in the box 9- put white packet in the box 10- put white packet in the box 11- put white packet in the box 12- put white packet in the box 13- put white packets in the box 14- arrange packets in the tray 15- put white packet in the box 16- put white packets in the box 17- put white packet in the box 18- put white packets in the box 19- arrange packets in the box 20- put white packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- move box to the left 2- put white packet in the box 3- put white packets in the box 4- put white packets in the box 5- arrange the packets 6- put white packets in the box 7- put white packet in the box 8- put white packets in the box 9- put white packet in the box 10- put white packet in the box 11- put white packet in the box 12- put white packet in the box 13- put white packets in the box 14- arrange packets in the tray 15- put white packet in the box 16- put white packets in the box 17- put white packet in the box 18- put white packets in the box 19- arrange packets in the box 20- put white packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the box 2- arrange packet in the tray 3- move box to the back 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e","video":"4001776700513781140.mp4"}
+{"uid":"14863878798596495466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the paper clip 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":"5364956222220435461.mp4"}
+{"uid":"15378024987286167379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tea box 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":"18135440613847355618.mp4"}
+{"uid":"960018647195772256","text":"\u003ctask:success:discrete:True\u003e\narrange packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange packets in the box\n\u003c/PRED\u003e","video":"12361256174855138276.mp4"}
+{"uid":"13049217339094034930","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packet in the box 16- put white packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- arrange packets in the tray 2- put white packet in the box 3- put white packets in the box 4- put white packet in the box 5- put white packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: arrange packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packet in the box 16- put white packets in the box Q: immediate next step? \u003cPRED\u003eA: arrange packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange packets in the tray\n\u003c/PRED\u003e","video":"12704357595206099940.mp4"}
+{"uid":"18342369995241869340","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- arrange packets to the right of the box 2- move box to the left 3- put white packet in the box 4- put white packets in the box 5- put white packets in the box 6- arrange the packets 7- put white packets in the box 8- put white packet in the box 9- put white packets in the box 10- put white packet in the box 11- put white packet in the box 12- put white packet in the box 13- put white packet in the box 14- put white packets in the box 15- arrange packets in the tray 16- put white packet in the box 17- put white packets in the box 18- put white packet in the box 19- put white packets in the box 20- arrange packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the box 2- put white packets in the box 3- arrange packet in the tray 4- move box to the back 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- arrange packets to the right of the box 2- move box to the left 3- put white packet in the box 4- put white packets in the box 5- put white packets in the box 6- arrange the packets 7- put white packets in the box 8- put white packet in the box 9- put white packets in the box 10- put white packet in the box 11- put white packet in the box 12- put white packet in the box 13- put white packet in the box 14- put white packets in the box 15- arrange packets in the tray 16- put white packet in the box 17- put white packets in the box 18- put white packet in the box 19- put white packets in the box 20- arrange packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e","video":"10370207421559666927.mp4"}
+{"uid":"8225109574727550805","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green 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":"1789865857003535457.mp4"}
+{"uid":"10259889828677674651","text":"\u003ctask:success:discrete:True\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e","video":"17693663879680900937.mp4"}
+{"uid":"7844985811716158698","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1170817622228074987.mp4"}
+{"uid":"16243178010715494945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1060429366118710456.mp4"}
+{"uid":"5883068639193981756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4102736513926448812.mp4"}
+{"uid":"11937556987666302909","text":"\u003ctask:success:discrete:True\u003e\nput white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e","video":"11550185413596514659.mp4"}
+{"uid":"17058670545229639098","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the box 2- arrange the packets 3- put white packets in the box 4- put white packet in the box 5- put white packets in the box\n\u003c/PRED\u003e","video":"9346069250132926984.mp4"}
+{"uid":"356798983926142709","text":"\u003ctask:success:discrete:False\u003e\nput white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packet in the box 16- put white packets in the box 17- arrange packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the box 2- put white packets in the box 3- put white packet in the box 4- put white packets in the box 5- arrange packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box 10- put white packet in the box 11- put white packets in the box 12- put white packet in the box 13- put white packet in the box 14- put white packet in the box 15- put white packet in the box 16- put white packets in the box 17- arrange packets in the tray Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e","video":"17899184341502243307.mp4"}
+{"uid":"3268788763029189176","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2325074044691855439.mp4"}
+{"uid":"6283506690066899343","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: arrange packets to the right of the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange packets to the right of the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange packets to the right of the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange packets to the right of the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- arrange packets to the right of the box 2- move box to the left 3- put white packet in the box 4- put white packets in the box 5- put white packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange packets to the right of the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box Q: immediate next step? \u003cPRED\u003eA: arrange packets to the right of the box\n\u003c/PRED\u003e","video":"10257148109879296662.mp4"}
+{"uid":"8116765586459970186","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7492115643015657093.mp4"}
+{"uid":"538171564958825043","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the box 2- put white packets in the box 3- arrange the packets 4- put white packets in the box 5- put white packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e","video":"6983584266807022787.mp4"}
+{"uid":"17358194134503458804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a spoon on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16218162939211074397.mp4"}
+{"uid":"4335357619485801983","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the box 2- arrange packets to the right of the box 3- move box to the left 4- put white packet in the box 5- put white packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e","video":"6297379084928139289.mp4"}
+{"uid":"6794178737496175983","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange the packets 4- put white packets in the box 5- put white packet in the box 6- put white packets in the box 7- put white packet in the box 8- put white packet in the box 9- put white packet in the box 10- put white packet in the box 11- put white packets in the box 12- arrange packets in the tray 13- put white packet in the box 14- put white packets in the box 15- put white packet in the box 16- put white packets in the box 17- arrange packets in the box 18- put white packet in the box 19- put white packets in the box 20- arrange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move box to the back 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange the packets 4- put white packets in the box 5- put white packet in the box 6- put white packets in the box 7- put white packet in the box 8- put white packet in the box 9- put white packet in the box 10- put white packet in the box 11- put white packets in the box 12- arrange packets in the tray 13- put white packet in the box 14- put white packets in the box 15- put white packet in the box 16- put white packets in the box 17- arrange packets in the box 18- put white packet in the box 19- put white packets in the box 20- arrange packet in the tray Q: immediate next step? \u003cPRED\u003eA: move box to the back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: move box to the back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove box to the back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move box to the back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove box to the back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move box to the back\n\u003c/PRED\u003e","video":"10619266238604166825.mp4"}
+{"uid":"8110709356220543015","text":"\u003ctask:success:discrete:True\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e","video":"762457376187620938.mp4"}
+{"uid":"8050959805408953233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1765331526190779779.mp4"}
+{"uid":"16613608998331969012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the purple 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":"17594692152170958013.mp4"}
+{"uid":"13873337501283947453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9909700347538815322.mp4"}
+{"uid":"14609616556749765704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the small blinder clip 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":"4155094798429527776.mp4"}
+{"uid":"7645262045410933335","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the box 2- put white packets in the box 3- put white packets in the box 4- arrange the packets 5- put white packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11260858385058425768.mp4"}
+{"uid":"16946724083211390797","text":"\u003ctask:success:discrete:True\u003e\nput white packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the box\n\u003c/PRED\u003e","video":"3204606159453701756.mp4"}
+{"uid":"10496349197708235801","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic spoon in the glass  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":"3091303820173430616.mp4"}
+{"uid":"2427484466358666094","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packet in the box 2- put white packets in the box 3- put white packets in the box 4- arrange the packets 5- put white packets in the box 6- put white packet in the box 7- put white packets in the box 8- put white packet in the box 9- put white packet in the box 10- put white packet in the box 11- put white packet in the box 12- put white packets in the box 13- arrange packets in the tray 14- put white packet in the box 15- put white packets in the box 16- put white packet in the box 17- put white packets in the box 18- arrange packets in the box 19- put white packet in the box 20- put white packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- arrange packet in the tray 2- move box to the back 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packet in the box 2- put white packets in the box 3- put white packets in the box 4- arrange the packets 5- put white packets in the box 6- put white packet in the box 7- put white packets in the box 8- put white packet in the box 9- put white packet in the box 10- put white packet in the box 11- put white packet in the box 12- put white packets in the box 13- arrange packets in the tray 14- put white packet in the box 15- put white packets in the box 16- put white packet in the box 17- put white packets in the box 18- arrange packets in the box 19- put white packet in the box 20- put white packets in the box Q: immediate next step? \u003cPRED\u003eA: arrange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: arrange packet in the tray\n\u003c/PRED\u003e","video":"3758822967793898478.mp4"}
+{"uid":"5610869140374238381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy in the left side tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"598965686774668768.mp4"}
+{"uid":"12277314977160971583","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a popcorn packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16821497556496450432.mp4"}
+{"uid":"17779579035927911758","text":"\u003ctask:success:discrete:False\u003e\nput white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the box 2- put white packets in the box 3- put white packet in the box 4- put white packet in the box 5- put white packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the alcohol prep pads in two side-by-side piles into the screen cleaning wipes tray and make sure the wipes are all right side up and facing up. last 20 steps: 1- put white packets in the box 2- put white packets in the box 3- arrange packets to the right of the box 4- move box to the left 5- put white packet in the box 6- put white packets in the box 7- put white packets in the box 8- arrange the packets 9- put white packets in the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the box\n\u003c/PRED\u003e","video":"15773053138765427.mp4"}
+{"uid":"2824988264068955993","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11690026385869566245.mp4"}
+{"uid":"7872583699170078760","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e","video":"610457575755841680.mp4"}
+{"uid":"14006153329018103884","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":"8888747995146733601.mp4"}
+{"uid":"4491346989573471856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13434616582540642278.mp4"}
+{"uid":"701250137234734392","text":"\u003ctask:success:discrete:True\u003e\nput the  pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e","video":"4057863465229877565.mp4"}
+{"uid":"16737664125042727214","text":"\u003ctask:success:discrete:True\u003e\nput the  pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e","video":"14407950905862960567.mp4"}
+{"uid":"11592289775440313576","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":"13219446892259357583.mp4"}
+{"uid":"1888489938028685890","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":"7575248273096558484.mp4"}
+{"uid":"4028451194980017915","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand 7- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand 7- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"7546671720363289019.mp4"}
+{"uid":"15914433012638180450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17362899941808861442.mp4"}
+{"uid":"342038870518048519","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- place the spoon in the holder 7- place the spoon in the holder 8- place the spoon in the holder 9- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- place the spoon in the holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- place the spoon in the holder 7- place the spoon in the holder 8- place the spoon in the holder 9- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e","video":"14682304115040383945.mp4"}
+{"uid":"14880894679559115946","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: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 put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 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 put the blue pens on the table in the pen 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the  pen into the pen stand 3- pick pen from the table 4- put pen in the penstand 5- done\n\u003c/PRED\u003e","video":"9630239596910842674.mp4"}
+{"uid":"827180028658587137","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16334475424467968192.mp4"}
+{"uid":"10311323145899493404","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e","video":"14613058245201174515.mp4"}
+{"uid":"17320437636380972701","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand 7- pick pen from the table Q: immediate next step? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand 7- pick pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the penstand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9643382130099093222.mp4"}
+{"uid":"2311719075829154366","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":"13002235157886842109.mp4"}
+{"uid":"12852627521378352497","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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 put the blue pens on the table in the pen holder 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","video":"4738072982694422816.mp4"}
+{"uid":"12644949641986839397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4019300959866708801.mp4"}
+{"uid":"4440790098428291694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2198884924143168796.mp4"}
+{"uid":"17506149731000323459","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the  pen into the pen stand 3- put the  pen into the pen stand 4- pick pen from the table 5- put pen in the penstand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 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","video":"770146959959079190.mp4"}
+{"uid":"9419372671686995539","text":"\u003ctask:success:discrete:False\u003e\nput the  pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen into the pen stand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11012549271381559438.mp4"}
+{"uid":"1120457273469559460","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- place the spoon in the holder 7- place the spoon in the holder 8- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- place the spoon in the holder 7- place the spoon in the holder 8- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- place the spoon in the holder 3- place the spoon in the holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8861573874655693883.mp4"}
+{"uid":"2816415513100463753","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9667409058416033897.mp4"}
+{"uid":"1407532864393635673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the trolley forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4121756135580876400.mp4"}
+{"uid":"5807462840416175156","text":"\u003ctask:success:discrete:True\u003e\nput pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e","video":"10117404367995602079.mp4"}
+{"uid":"5187323038408388568","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen into the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e","video":"15557323355301318604.mp4"}
+{"uid":"11699642571969051946","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate crunch 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":"4648240155111096667.mp4"}
+{"uid":"12132109645240800050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12420800548172736152.mp4"}
+{"uid":"4690615993575596172","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e","video":"7604435695729716978.mp4"}
+{"uid":"1881500321489774387","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace numi golden chai 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":"6924516484812609880.mp4"}
+{"uid":"18185722989208074959","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":"13150991191778392872.mp4"}
+{"uid":"12984360832661088317","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand 7- pick pen from the table 8- put pen in the penstand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand 7- pick pen from the table 8- put pen in the penstand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11323793550049548959.mp4"}
+{"uid":"9124637360146796404","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- pick pen from the table 3- put pen in the penstand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"9947801200526741001.mp4"}
+{"uid":"878342915440677803","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand 7- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand 7- put the  pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4875669724275507864.mp4"}
+{"uid":"6332308813349842124","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: pick pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: pick pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick pen from the table 2- put pen in the penstand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7354442473530418123.mp4"}
+{"uid":"8542561986090170728","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":"8627620495755829194.mp4"}
+{"uid":"14765123525307402451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"10567075989314810789.mp4"}
+{"uid":"6316112569526663090","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18046471887897581608.mp4"}
+{"uid":"15244327265061446865","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9999221516851698043.mp4"}
+{"uid":"11878963350854435814","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":"423679645317766747.mp4"}
+{"uid":"15054007084545596510","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the penstand 2- put the  pen into the pen stand 3- put the  pen into the pen stand 4- put the  pen into the pen stand 5- pick pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table Q: immediate next step? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14911749481986820595.mp4"}
+{"uid":"18023126389088988849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"590928680860996875.mp4"}
+{"uid":"5277953702366923527","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen into the pen stand 2- put the  pen into the pen stand 3- put the  pen into the pen stand 4- put the  pen into the pen stand 5- pick pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1959334978879552354.mp4"}
+{"uid":"12687091006806246814","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand Q: next 5 steps? \u003cPRED\u003eA: 1- pick pen from the table 2- put pen in the penstand 3- put the  pen into the pen stand 4- put the  pen into the pen stand 5- put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand Q: immediate next step? \u003cPRED\u003eA: pick pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: pick pen from the table\n\u003c/PRED\u003e","video":"6683177831673094459.mp4"}
+{"uid":"13063258688512580700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic knives 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":"6523554168924026339.mp4"}
+{"uid":"608533062989362015","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- place the spoon in the holder 7- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- place the spoon in the holder 7- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e","video":"2220568719891914079.mp4"}
+{"uid":"7663299705828785160","text":"\u003ctask:success:discrete:True\u003e\nplace the spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e","video":"2052409597366857083.mp4"}
+{"uid":"17051034831732903308","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen into the pen stand 2- put the  pen into the pen stand 3- put the  pen into the pen stand 4- pick pen from the table 5- put pen in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7636247065075402409.mp4"}
+{"uid":"11172738886070201827","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white bowl 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":"5507005397972078580.mp4"}
+{"uid":"4817634386853917143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the battery 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":"7675344428121946015.mp4"}
+{"uid":"1106356882816435435","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1026584199274094723.mp4"}
+{"uid":"15769075721945223900","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards 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":"8772289937276165936.mp4"}
+{"uid":"8746203395476408028","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- place the spoon in the holder 7- place the spoon in the holder 8- place the spoon in the holder 9- place the spoon in the holder 10- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder 6- place the spoon in the holder 7- place the spoon in the holder 8- place the spoon in the holder 9- place the spoon in the holder 10- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17804186106448421513.mp4"}
+{"uid":"10379988126126407023","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to 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":"5021344289274496613.mp4"}
+{"uid":"17032681826460161137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose 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":"17446878239276036977.mp4"}
+{"uid":"12027382565072873087","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 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 put the blue pens on the table in the pen 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 put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the  pen into the pen stand 3- put the  pen into the pen stand 4- put the  pen into the pen stand 5- pick pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen 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:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15710521514254218908.mp4"}
+{"uid":"9268147611973659542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the small binder clip in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13959745313640404175.mp4"}
+{"uid":"9939384999133224019","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2411407771027455504.mp4"}
+{"uid":"18087879333939135216","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":"9299042950630508422.mp4"}
+{"uid":"842042236001455627","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the holder 2- place the spoon in the holder 3- place the spoon in the holder 4- place the spoon in the holder 5- place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup. last 20 steps: 1- place the holder upright 2- place the spoon in the holder 3- place the spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the spilled spoons and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the holder\n\u003c/PRED\u003e","video":"9181574302275984614.mp4"}
+{"uid":"10886396421519307882","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the box right side of the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"309547657716518412.mp4"}
+{"uid":"14676393391243232323","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3351389260444157760.mp4"}
+{"uid":"6176147547721470652","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8454201081565324479.mp4"}
+{"uid":"5809404442090649139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the black packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10610494453413237712.mp4"}
+{"uid":"414294576450060701","text":"\u003ctask:success:discrete:True\u003e\nput pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e","video":"3022815046966290307.mp4"}
+{"uid":"7943058684260119397","text":"\u003ctask:success:discrete:True\u003e\nput the  pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e","video":"16038622865068614082.mp4"}
+{"uid":"15935368828975873626","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 blue pens on the table in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e","video":"7523285475362704914.mp4"}
+{"uid":"13393427655385369119","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen into the pen stand 2- pick pen from the table 3- put pen in the penstand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e","video":"1071565595261792057.mp4"}
+{"uid":"15524953338101139651","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pebbles in the hole Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4953000612726220335.mp4"}
+{"uid":"4215785157401836684","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen 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 put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand 5- put the  pen into the pen stand 6- put the  pen into the pen stand 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:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"532089534563618667.mp4"}
+{"uid":"16474241235677704158","text":"\u003ctask:success:discrete:True\u003e\nput pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pen in the penstand\n\u003c/PRED\u003e","video":"7788942197044225772.mp4"}
+{"uid":"13950987164591574512","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow the cup in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3132233078648459826.mp4"}
+{"uid":"10281643277658541320","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder. last 20 steps: 1- put pen in the penstand 2- pick pen from the table 3- put pen in the penstand 4- put the  pen into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the  pen into the pen stand 2- put the  pen into the pen stand 3- pick pen from the table 4- put pen in the penstand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens on the table in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  pen into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  pen into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  pen into the pen stand\n\u003c/PRED\u003e","video":"11771850123437176345.mp4"}
+{"uid":"3324654579633954575","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":"3262672573809790075.mp4"}
+{"uid":"12067474322160166732","text":"\u003ctask:success:discrete:False\u003e\nput three blue pens in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput three blue pens in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put three blue pens in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put three blue pens in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put three blue pens in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand Q: immediate next step? \u003cPRED\u003eA: put three blue pens in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put three blue pens in the organizer 2- put 1 blue pen in the pen stand 3- done\n\u003c/PRED\u003e","video":"11911304518503885804.mp4"}
+{"uid":"1842043013115936811","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand 17- put 1 blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand 17- put 1 blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- done\n\u003c/PRED\u003e","video":"9582343731297459643.mp4"}
+{"uid":"13938325215275296658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue marker into the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"740795921733733268.mp4"}
+{"uid":"8461401465604670711","text":"\u003ctask:success:discrete:True\u003e\nput the blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue marker in the pen holder\n\u003c/PRED\u003e","video":"5738763857713614745.mp4"}
+{"uid":"8470966508671315305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2958085598056625394.mp4"}
+{"uid":"4038627990201344083","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker in the pen holder 2- put the yellow colour sketch in the pen holder 3- put 2 blue pens in the pen stand 4- put 2 red colour pens in the pen stand 5- put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e","video":"9985322576809247378.mp4"}
+{"uid":"867733325443896980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"7297794090204254721.mp4"}
+{"uid":"2236240944760935137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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":"13381786991932713675.mp4"}
+{"uid":"16307913749059566998","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the clip in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the clip in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the clip in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the clip in the pen stand 2- place the blue colour box in the pen stand 3- place the sticky note in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: place the clip 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 clip in the pen stand\n\u003c/PRED\u003e","video":"18339563532418228049.mp4"}
+{"uid":"6036671368787340016","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink marker in the pen holder 2- put the green colour sketch in the pen holder 3- put the green colour sketch in the pen holder 4- put the yellow colour sketch in the pen holder 5- put 2 blue pens in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e","video":"16081433899058710574.mp4"}
+{"uid":"2377646960596544088","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green colour sketch in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7664379203142324080.mp4"}
+{"uid":"2878320219717866241","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the illy packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9890585724740657336.mp4"}
+{"uid":"3803893340498522574","text":"\u003ctask:success:discrete:True\u003e\nput the paper clip in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e","video":"15315250702210594197.mp4"}
+{"uid":"781884805067755289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10316406006362814091.mp4"}
+{"uid":"13238030451258580419","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sticky notes in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sticky notes in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10542421099845953711.mp4"}
+{"uid":"16704335029889569231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8073141516269824804.mp4"}
+{"uid":"1915049664577861762","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink marker in the pen holder 2- put the blue colour sketch in the pen holder 3- put the green colour sketch in the pen holder 4- put the green colour sketch in the pen holder 5- put the yellow colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e","video":"7321065116871395594.mp4"}
+{"uid":"7426788726580190466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6004171119191835416.mp4"}
+{"uid":"18266776971861097436","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer Q: immediate next step? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the binder clip into the organizer 2- place the sticky note in the pen stand 3- place the sticky note in the pen stand 4- place the sticky note in the pen stand 5- put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the binder clip into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5426916857421039153.mp4"}
+{"uid":"11541126849019035331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12860586852049092259.mp4"}
+{"uid":"13299305517204064927","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper clip in the organizer 2- place the blue colour box in the pen stand 3- place the sticky note in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper clip in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15760269555377347670.mp4"}
+{"uid":"16422446460754689490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop chocolate ball on 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":"10617143978712915691.mp4"}
+{"uid":"10245175583165634943","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note in the organizer 2- put the pink marker in the pen holder 3- put the pink colour sketch in the pen holder 4- put the blue colour sketch in the pen holder 5- put the green colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e","video":"7476890592052994572.mp4"}
+{"uid":"12199698423150657657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"5289934298561279549.mp4"}
+{"uid":"10433674475028087639","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pink colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pink colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink colour sketch in the pen holder 2- put the blue colour sketch in the pen holder 3- put the green colour sketch in the pen holder 4- put the green colour sketch in the pen holder 5- put the yellow colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink colour sketch in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7599077683605538888.mp4"}
+{"uid":"208686589939800817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sanitizer 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":"1929443311657718470.mp4"}
+{"uid":"3804286410681709187","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker in the pen holder 2- put the yellow colour sketch in the pen holder 3- put 2 blue pens in the pen stand 4- put 2 red colour pens in the pen stand 5- put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e","video":"12959062205005464580.mp4"}
+{"uid":"9532539310012833177","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"226359045445338456.mp4"}
+{"uid":"1277205292023757818","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the binder clip into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15680831471121242823.mp4"}
+{"uid":"12756822243751478996","text":"\u003ctask:success:discrete:False\u003e\nput the green marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker in the pen holder 2- put the yellow colour sketch in the pen holder 3- put 2 blue pens in the pen stand 4- put 2 red colour pens in the pen stand 5- put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e","video":"831365394722494029.mp4"}
+{"uid":"256617048072938193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4136648797575712453.mp4"}
+{"uid":"16343961804315172259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5122473996866169216.mp4"}
+{"uid":"9937560940042046824","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand 17- put 1 blue pen in the pen stand 18- put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand 17- put 1 blue pen in the pen stand 18- put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"3189362690798258825.mp4"}
+{"uid":"17325743030738851842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick  the yellow ball from the billiard triangle rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5725207928383357215.mp4"}
+{"uid":"18176356599243488036","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4566885765464191032.mp4"}
+{"uid":"14593211734526917101","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put three blue pens in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput three blue pens in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5147619937336360990.mp4"}
+{"uid":"17513391490021187445","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tape box in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the tape box in the organizer 2- place the sticky note in the pen stand 3- place the sticky note in the pen stand 4- put the pink marker in the pen holder 5- put the pink colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tape box in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tape box in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the tape box in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the tape box in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tape box in the organizer\n\u003c/PRED\u003e","video":"7855043411824991554.mp4"}
+{"uid":"9205031738058206607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16578088535439464009.mp4"}
+{"uid":"2408235287456576770","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 2 red colour pens 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":"602935618883903211.mp4"}
+{"uid":"8212559253227803155","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4803808346395034992.mp4"}
+{"uid":"11488516757680910526","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink. last 20 steps: 1- place the bowl in the plate 2- stack the bowl 3- place the cup in the bow 4- place the objects in the sink Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the objects in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the objects in the sink\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink. last 20 steps: 1- place the bowl in the plate 2- stack the bowl 3- place the cup in the bow 4- place the objects in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6626769743831708813.mp4"}
+{"uid":"941795182512909842","text":"\u003ctask:success:discrete:True\u003e\nput the yellow colour sketch in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4141259021129812367.mp4"}
+{"uid":"10811106552477715806","text":"\u003ctask:success:discrete:True\u003e\nplace the sticky note 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: place the sticky note in the pen stand\n\u003c/PRED\u003e","video":"12087427824179495508.mp4"}
+{"uid":"15750080941631591292","text":"\u003ctask:success:discrete:True\u003e\nput the green marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e","video":"2595982817554135369.mp4"}
+{"uid":"17819906707045737615","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker in the pen holder 2- put the green colour sketch in the pen holder 3- put the yellow colour sketch in the pen holder 4- put 2 blue pens in the pen stand 5- put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the pen holder\n\u003c/PRED\u003e","video":"11668867723756297476.mp4"}
+{"uid":"17995100835490278888","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the binder clip into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the binder clip into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the binder clip into the organizer 2- place the blue colour box in the pen stand 3- place the sticky note in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e","video":"1405709821314451130.mp4"}
+{"uid":"11404369657830961809","text":"\u003ctask:success:discrete:True\u003e\nput two red pens in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put two red pens in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 2 red colour pens 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":"7671953546139957886.mp4"}
+{"uid":"15958878031893023665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the popcorn 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":"5874936680332959909.mp4"}
+{"uid":"13561446466694084452","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink. last 20 steps: 1- place the bowl in the plate Q: next 5 steps? \u003cPRED\u003eA: 1- stack the bowl 2- place the cup in the bow 3- place the objects in the sink 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink. last 20 steps: 1- place the bowl in the plate Q: immediate next step? \u003cPRED\u003eA: stack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink Q: immediate next step? \u003cPRED\u003eA: stack the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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: stack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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":"15609568338970625623.mp4"}
+{"uid":"7556712528143111226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11101267598456076212.mp4"}
+{"uid":"1117548668874866019","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue colour box in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue colour box 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":"8852530017078274612.mp4"}
+{"uid":"2853572469157508976","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put 2 red colour pens in the pen stand 2- put 3 blue pens in the pen stand 3- put 1 blue pen in the pen stand 4- put 1 blue pen in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand Q: immediate next step? \u003cPRED\u003eA: put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 2 red colour pens 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: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put 2 red colour pens in the pen stand\n\u003c/PRED\u003e","video":"7949106544018610874.mp4"}
+{"uid":"8487807895105355444","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sticky note in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sticky note 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":"13872094727910626714.mp4"}
+{"uid":"10376301496741473958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cube 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":"9707737973344298818.mp4"}
+{"uid":"1780251428617623106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the beans 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":"13923739433017706850.mp4"}
+{"uid":"12949201091808680540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4248714567001043725.mp4"}
+{"uid":"15900699599722145556","text":"\u003ctask:success:discrete:True\u003e\nput the sticky note in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e","video":"17293832109474127036.mp4"}
+{"uid":"728272633341419124","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: place the blue colour box 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 blue colour box in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue colour box 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\nplace the blue colour box 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: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand Q: immediate next step? \u003cPRED\u003eA: place the blue colour box in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue colour box in the pen stand 2- place the sticky note in the pen stand 3- place the sticky note in the pen stand 4- place the sticky note in the pen stand 5- put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue colour box in the pen stand\n\u003c/PRED\u003e","video":"10505078710287920697.mp4"}
+{"uid":"12628083949012427248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4095821012323208769.mp4"}
+{"uid":"14139652330213046470","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":"12875048756245937865.mp4"}
+{"uid":"9921003731007533126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9244794609074994918.mp4"}
+{"uid":"568155724324810409","text":"\u003ctask:success:discrete:True\u003e\nput the invisible tape in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the invisible tape in the organizer\n\u003c/PRED\u003e","video":"12831374340159391284.mp4"}
+{"uid":"5344405828406440580","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put two red pens in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput two red pens in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1907672563057851160.mp4"}
+{"uid":"10246054211426315626","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink. last 20 steps: 1- place the bowl in the plate 2- stack the bowl Q: immediate next step? \u003cPRED\u003eA: place the cup in the bow\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink Q: immediate next step? \u003cPRED\u003eA: place the cup in the bow\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup in the bow\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup in the bow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cup in the bow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink. last 20 steps: 1- place the bowl in the plate 2- stack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup in the bow 2- place the objects in the sink 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup in the bow\n\u003c/PRED\u003e","video":"15997146008116890312.mp4"}
+{"uid":"10328778063482964198","text":"\u003ctask:success:discrete:True\u003e\nplace the sticky note 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: place the sticky note in the pen stand\n\u003c/PRED\u003e","video":"12333264603026333349.mp4"}
+{"uid":"8919779173528834860","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note in the organizer 2- place the sticky note in the pen stand 3- put the pink marker in the pen holder 4- put the pink colour sketch in the pen holder 5- put the blue colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky note in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e","video":"4773977045608870746.mp4"}
+{"uid":"16515973711386205877","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the red pens in the pen holder 2- put 3 blue pens in the pen stand 3- put 1 blue pen in the pen stand 4- put 1 blue pen in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red pens in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red pens in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the red pens in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the red pens in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red pens in the pen holder\n\u003c/PRED\u003e","video":"8406004088048574831.mp4"}
+{"uid":"12310724243906216983","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pink colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pink marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pink colour sketch in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e","video":"14410106374255201147.mp4"}
+{"uid":"7240928003696120847","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand 17- put 1 blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand 17- put 1 blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the organizer 2- done\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 organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the organizer\n\u003c/PRED\u003e","video":"12791799673578827747.mp4"}
+{"uid":"7136422128744810699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop orange in a 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":"5124723221728855992.mp4"}
+{"uid":"9684503335534631986","text":"\u003ctask:success:discrete:True\u003e\nput the blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue marker in the pen holder\n\u003c/PRED\u003e","video":"16152123512868900712.mp4"}
+{"uid":"15414149452610732395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8541829993757173098.mp4"}
+{"uid":"7989843825310222789","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7766774696149066281.mp4"}
+{"uid":"13818511200929937893","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"8387437769542079488.mp4"}
+{"uid":"2942332925854075962","text":"\u003ctask:success:discrete:False\u003e\nput the blue pens in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pens in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pens in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pens in the pen holder 2- put 2 red colour pens in the pen stand 3- put 3 blue pens in the pen stand 4- put 1 blue pen in the pen stand 5- put 1 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pens in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pens in the pen holder\n\u003c/PRED\u003e","video":"16188145228779327360.mp4"}
+{"uid":"3666459513438384369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwrite on the 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":"9851526395964202823.mp4"}
+{"uid":"17884153019002088839","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker in the pen holder 2- put the green colour sketch in the pen holder 3- put the yellow colour sketch in the pen holder 4- put 2 blue pens in the pen stand 5- put 2 red colour pens in the pen stand\n\u003c/PRED\u003e","video":"3185336936280751525.mp4"}
+{"uid":"16560332082691866820","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue colour sketch in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue colour sketch in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue colour sketch in the pen holder 2- put the green colour sketch in the pen holder 3- put the green colour sketch in the pen holder 4- put the yellow colour sketch in the pen holder 5- put 2 blue pens in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue colour sketch in the pen holder\n\u003c/PRED\u003e","video":"12285166483908367182.mp4"}
+{"uid":"16881180284049733659","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":"1624115332772447073.mp4"}
+{"uid":"12954275130129260081","text":"\u003ctask:success:discrete:True\u003e\nput the tape box in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tape box in the organizer\n\u003c/PRED\u003e","video":"15583959306633808506.mp4"}
+{"uid":"9698489172618641512","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: place the sticky note 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 sticky note in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand Q: immediate next step? \u003cPRED\u003eA: place the sticky note in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky note in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky note 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: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky note in the pen stand 2- place the sticky note in the pen stand 3- put the pink marker in the pen holder 4- put the pink colour sketch in the pen holder 5- put the blue colour sketch in the pen holder\n\u003c/PRED\u003e","video":"1577554695878611143.mp4"}
+{"uid":"3654525731442482238","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10591241712584901626.mp4"}
+{"uid":"8299442371630393265","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sticky note in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8230789885899412295.mp4"}
+{"uid":"12477272022360599612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet 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":"16169150590955245117.mp4"}
+{"uid":"12951787917562904244","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note in the organizer 2- put the pink colour sketch in the pen holder 3- put the blue colour sketch in the pen holder 4- put the green colour sketch in the pen holder 5- put the green colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e","video":"7385060937179920223.mp4"}
+{"uid":"1807953324855816063","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl in the plate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the bowl in the plate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink Q: immediate next step? \u003cPRED\u003eA: place the bowl in the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl in the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl in the plate 2- stack the bowl 3- place the cup in the bow 4- place the objects in the sink 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl in the plate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl in the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16001547209547423427.mp4"}
+{"uid":"288799895762505198","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4189195640724648747.mp4"}
+{"uid":"13489629084325730763","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSeparate a plastic glass from another 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":"15079241709649718818.mp4"}
+{"uid":"15388564251774159760","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- put 1 blue pen in the pen stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"17784554584006938714.mp4"}
+{"uid":"6647309869233735683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the brown paper cup towards the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10045096520208129212.mp4"}
+{"uid":"3843218496926045137","text":"\u003ctask:success:discrete:True\u003e\nplace the clip 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: place the clip in the pen stand\n\u003c/PRED\u003e","video":"15887270915971332809.mp4"}
+{"uid":"15354229576465474524","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the objects in the sink\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the objects in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the objects in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink. last 20 steps: 1- place the bowl in the plate 2- stack the bowl 3- place the cup in the bow Q: next 5 steps? \u003cPRED\u003eA: 1- place the objects in the sink 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the objects in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink Q: immediate next step? \u003cPRED\u003eA: place the objects in the sink\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please clear all the dishes on the table in the MK and put them into the sink. last 20 steps: 1- place the bowl in the plate 2- stack the bowl 3- place the cup in the bow Q: immediate next step? \u003cPRED\u003eA: place the objects in the sink\n\u003c/PRED\u003e","video":"4669236613556648451.mp4"}
+{"uid":"3294696673186615230","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 6 letter block in wooden 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":"5180776951416030985.mp4"}
+{"uid":"5672684605634631732","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red pens in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the red pens in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4294948308177934322.mp4"}
+{"uid":"12643209350814506748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the cloth Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7347582006965960100.mp4"}
+{"uid":"4368428129537596343","text":"\u003ctask:success:discrete:True\u003e\nput the sticky note in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sticky note in the organizer\n\u003c/PRED\u003e","video":"2882199365093937646.mp4"}
+{"uid":"16587275837774727771","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 1 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand 17- put 1 blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put 1 blue pen in the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 1 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put 1 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 1 blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand 17- put 1 blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put 1 blue pen in the pen stand\n\u003c/PRED\u003e","video":"9205456726353794945.mp4"}
+{"uid":"16621017626466431099","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the organizer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the organizer\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 organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11935848030746041512.mp4"}
+{"uid":"4399354100725054828","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow marker in the pen holder 2- put 2 blue pens in the pen stand 3- put 2 red colour pens in the pen stand 4- put 2 red colour pens in the pen stand 5- put 3 blue pens in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow marker in the pen holder\n\u003c/PRED\u003e","video":"6940113267288777969.mp4"}
+{"uid":"5520085812470472297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup up straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10034828117380530911.mp4"}
+{"uid":"1648083004817655662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the sticky notes 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":"13957776838316912503.mp4"}
+{"uid":"9594806653591190545","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue pens in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pens in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pens in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pens in the pen holder 2- put 1 blue pen in the pen stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pens in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue pens in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"749991317312808016.mp4"}
+{"uid":"6454504408128917376","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green colour sketch in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the green colour sketch in the pen holder 2- put the yellow colour sketch in the pen holder 3- put 2 blue pens in the pen stand 4- put 2 red colour pens in the pen stand 5- put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the green colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the green colour sketch in the pen holder\n\u003c/PRED\u003e","video":"16098859726252144878.mp4"}
+{"uid":"8383921955900976319","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pens in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pens in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4412121787674427471.mp4"}
+{"uid":"8559223954407488093","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bunch of grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16793742015084510160.mp4"}
+{"uid":"14373373900288165759","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green colour sketch in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the green colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green colour sketch in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the green colour sketch in the pen holder 2- put the green colour sketch in the pen holder 3- put the yellow colour sketch in the pen holder 4- put 2 blue pens in the pen stand 5- put 2 red colour pens 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 green colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the green colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green colour sketch in the pen holder\n\u003c/PRED\u003e","video":"3999236779870904833.mp4"}
+{"uid":"2254033072029274998","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand 17- put 1 blue pen in the pen stand 18- put 1 blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 1 blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put 1 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand 17- put 1 blue pen in the pen stand 18- put 1 blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1453520297333189800.mp4"}
+{"uid":"1168640419554879360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nempty out the plastic cup into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11555028241495424501.mp4"}
+{"uid":"3989950202982478224","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky notes in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky notes in the organizer 2- place the sticky note in the pen stand 3- put the pink marker in the pen holder 4- put the pink colour sketch in the pen holder 5- put the blue colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky notes in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky notes in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky notes in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17320598789144061220.mp4"}
+{"uid":"11465816488943295205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11516595024647257406.mp4"}
+{"uid":"7695118813500526511","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink colour sketch in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink colour sketch in the pen holder 2- put the pink colour sketch in the pen holder 3- put the blue colour sketch in the pen holder 4- put the green colour sketch in the pen holder 5- put the green colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pink colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink colour sketch in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pink colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink marker in the pen holder 2- put the blue colour sketch in the pen holder 3- put the green colour sketch in the pen holder 4- put the green colour sketch in the pen holder 5- put the yellow colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e","video":"11401817165263030586.mp4"}
+{"uid":"8058525655311297663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6503448439206756101.mp4"}
+{"uid":"17520105045893746680","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":"2909552024540916629.mp4"}
+{"uid":"8607463030829627764","text":"\u003ctask:success:discrete:True\u003e\nput 1 blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put 1 blue pen in the pen stand\n\u003c/PRED\u003e","video":"8008669325907190493.mp4"}
+{"uid":"15924859410014957184","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put 2 blue pens in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 2 blue pens 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: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put 2 blue pens in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 2 blue pens in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 2 blue pens in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put 2 blue pens in the pen stand 2- put 2 red colour pens in the pen stand 3- put 2 red colour pens in the pen stand 4- put 3 blue pens in the pen stand 5- put 1 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 2 blue pens in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3944554910720526439.mp4"}
+{"uid":"15777779466507422829","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the yellow colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the yellow colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow colour sketch in the pen holder 2- put 2 blue pens in the pen stand 3- put 2 red colour pens in the pen stand 4- put 2 red colour pens in the pen stand 5- put 3 blue pens in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow colour sketch in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow colour sketch in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e","video":"12698899632126097005.mp4"}
+{"uid":"741922143943339323","text":"\u003ctask:success:discrete:True\u003e\nput the green colour sketch in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green colour sketch in the pen holder\n\u003c/PRED\u003e","video":"10392121887180210374.mp4"}
+{"uid":"990366676679290568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the salt 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":"16392207227387196950.mp4"}
+{"uid":"8784919681995140083","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand Q: immediate next step? \u003cPRED\u003eA: put 2 red colour pens in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 2 red colour pens 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: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put 2 red colour pens in the pen stand 2- put 2 red colour pens in the pen stand 3- put 3 blue pens in the pen stand 4- put 1 blue pen in the pen stand 5- put 1 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 2 red colour pens in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9867675001938356149.mp4"}
+{"uid":"5635527746520477901","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky notes in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky notes in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the sticky notes in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky notes in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky notes in the organizer 2- put the pink marker in the pen holder 3- put the pink colour sketch in the pen holder 4- put the blue colour sketch in the pen holder 5- put the green colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky notes in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7642846137311349003.mp4"}
+{"uid":"13379239030211555099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"10444670026478596693.mp4"}
+{"uid":"3574580655989406610","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky note in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky note in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: place the sticky note in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky note in the pen stand 2- put the pink marker in the pen holder 3- put the pink colour sketch in the pen holder 4- put the blue colour sketch in the pen holder 5- put the green colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky note in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand Q: immediate next step? \u003cPRED\u003eA: place the sticky note in the pen stand\n\u003c/PRED\u003e","video":"15084438631498531648.mp4"}
+{"uid":"10605106279507999988","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink marker in the pen holder 2- put the blue colour sketch in the pen holder 3- put the green colour sketch in the pen holder 4- put the green colour sketch in the pen holder 5- put the yellow colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pink marker in the pen holder\n\u003c/PRED\u003e","video":"6782317069664647747.mp4"}
+{"uid":"12873540904585534467","text":"\u003ctask:success:discrete:True\u003e\nput 3 blue pens 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 3 blue pens in the pen stand\n\u003c/PRED\u003e","video":"3386314072742473647.mp4"}
+{"uid":"6280934971951310038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spoon in the left 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":"6568964713339216058.mp4"}
+{"uid":"1154304323756089127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16741946457981662874.mp4"}
+{"uid":"278367705213880451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue paper 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":"15052147875806137642.mp4"}
+{"uid":"1922695366848340243","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue colour sketch in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5918923150382034366.mp4"}
+{"uid":"13902330992722566024","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put two blue pens in the organizer 2- put 2 red colour pens in the pen stand 3- put 3 blue pens in the pen stand 4- put 1 blue pen in the pen stand 5- put 1 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two blue pens in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two blue pens in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput two blue pens in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put two blue pens in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put two blue pens in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put two blue pens in the organizer\n\u003c/PRED\u003e","video":"16648989468717923134.mp4"}
+{"uid":"12544680426633064576","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the red pens in the pen holder 2- put 1 blue pen in the pen stand 3- put 1 blue pen in the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the red pens in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red pens in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the red pens in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red pens in the pen holder\n\u003c/PRED\u003e","video":"12172022110625585537.mp4"}
+{"uid":"13900669157092289831","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put two red pens in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput two red pens in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put two red pens in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand Q: immediate next step? \u003cPRED\u003eA: put two red pens in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two red pens in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put two red pens in the organizer 2- put 2 red colour pens in the pen stand 3- put 3 blue pens in the pen stand 4- put 1 blue pen in the pen stand 5- put 1 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two red pens in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4371726758387298252.mp4"}
+{"uid":"3472007000709304144","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":"9707751008881921291.mp4"}
+{"uid":"13343202751816809588","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 1 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 1 blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 1 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 1 blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand Q: immediate next step? \u003cPRED\u003eA: put 1 blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand 16- put 3 blue pens in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put 1 blue pen in the pen stand 2- put 1 blue pen in the pen stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put 1 blue pen in the pen stand\n\u003c/PRED\u003e","video":"3462685466571149739.mp4"}
+{"uid":"12740810330218860534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sugar packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4662578190194434437.mp4"}
+{"uid":"9870040883071369343","text":"\u003ctask:success:discrete:True\u003e\nput the red pens in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red pens in the pen holder\n\u003c/PRED\u003e","video":"8869856497944050809.mp4"}
+{"uid":"16444790562764228247","text":"\u003ctask:success:discrete:False\u003e\nput the invisible tape in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the invisible tape in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the invisible tape in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the invisible tape in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the invisible tape in the organizer 2- place the sticky note in the pen stand 3- place the sticky note in the pen stand 4- place the sticky note in the pen stand 5- put the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the invisible tape in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the invisible tape in the organizer\n\u003c/PRED\u003e","video":"17107392885399292872.mp4"}
+{"uid":"16405918854951715926","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky note in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky note 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: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand Q: immediate next step? \u003cPRED\u003eA: place the sticky note in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky note in the pen stand 2- place the sticky note in the pen stand 3- place the sticky note in the pen stand 4- put the pink marker in the pen holder 5- put the pink colour sketch in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky note 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: place the sticky note in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: place the sticky note in the pen stand\n\u003c/PRED\u003e","video":"17252450352753654238.mp4"}
+{"uid":"16891973817222580611","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker in the pen holder 2- put 2 blue pens in the pen stand 3- put 2 red colour pens in the pen stand 4- put 2 red colour pens in the pen stand 5- put 3 blue pens in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12627553870499051270.mp4"}
+{"uid":"6053862976685717917","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":"15081542483792049441.mp4"}
+{"uid":"11484033944266555766","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 3 blue pens in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand Q: immediate next step? \u003cPRED\u003eA: put 3 blue pens in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put 3 blue pens in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 3 blue pens 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: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand 15- put 2 red colour pens in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put 3 blue pens in the pen stand 2- put 1 blue pen in the pen stand 3- put 1 blue pen in the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 3 blue pens in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 3 blue pens 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","video":"9753830269275243287.mp4"}
+{"uid":"1699218232285578487","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put two red pens in the organizer 2- put 1 blue pen in the pen stand 3- put 1 blue pen in the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put two red pens in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput two red pens in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- put the paper clip in the organizer 2- place the clip in the pen stand 3- place the blue colour box in the pen stand 4- place the sticky note in the pen stand 5- place the sticky note in the pen stand 6- place the sticky note in the pen stand 7- put the pink marker in the pen holder 8- put the pink colour sketch in the pen holder 9- put the blue colour sketch in the pen holder 10- put the green colour sketch in the pen holder 11- put the green colour sketch in the pen holder 12- put the yellow colour sketch in the pen holder 13- put 2 blue pens in the pen stand 14- put 2 red colour pens in the pen stand Q: immediate next step? \u003cPRED\u003eA: put two red pens in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two red pens in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put two red pens in the organizer\n\u003c/PRED\u003e","video":"1394696714014325901.mp4"}
+{"uid":"12235180356919236792","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6851150403337269805.mp4"}
+{"uid":"10673453134199386547","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray 7- put the candy in the tray box 8- put the candy in the tray box Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray 7- put the candy in the tray box 8- put the candy in the tray box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"162145397100755638.mp4"}
+{"uid":"14916922122267814164","text":"\u003ctask:success:discrete:True\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e","video":"11905082808417784755.mp4"}
+{"uid":"11670541911795842099","text":"\u003ctask:success:discrete:True\u003e\nput the candy in the tray 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: put the candy in the tray box\n\u003c/PRED\u003e","video":"283041504834515549.mp4"}
+{"uid":"185367893920886739","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the tray 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: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray 7- put the candy in the tray box Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- place the candy in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray 7- put the candy in the tray box Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e","video":"16154172222868506906.mp4"}
+{"uid":"8559364118446130358","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the tray 2- place the candy in the tray 3- place the candies in the tray 4- put the candy in the tray box 5- put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e","video":"6252377973237690957.mp4"}
+{"uid":"16718758729184437360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toy red chilli 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":"9919135899954228353.mp4"}
+{"uid":"7505240499255169027","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candies in the tray 5- put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11102288043943872212.mp4"}
+{"uid":"16472267485922035091","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":"10435913203157304719.mp4"}
+{"uid":"10109358195287057543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9831516827512857810.mp4"}
+{"uid":"7661968708591901719","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- put the candy in the tray box 3- place the candy in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3345956435401968944.mp4"}
+{"uid":"15790175664036832028","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray 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: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the tray 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: put the candies into the tray. last 20 steps: 1- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candies in the tray\n\u003c/PRED\u003e","video":"11044974043773142377.mp4"}
+{"uid":"2735276328140287934","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy in the tray 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":"7765814828240801555.mp4"}
+{"uid":"11088010467096343993","text":"\u003ctask:success:discrete:True\u003e\nput the candy in the tray 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: put the candy in the tray box\n\u003c/PRED\u003e","video":"15717410941884821877.mp4"}
+{"uid":"5047481323394033848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white  bag 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":"4664213847405952622.mp4"}
+{"uid":"10397431669330675893","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10273947841535079588.mp4"}
+{"uid":"15087631749488275212","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray 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: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- place the candies in the tray 3- put the candy in the tray box 4- put the candy in the tray box 5- place the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e","video":"12704511997798578198.mp4"}
+{"uid":"4218376216809310186","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5328146364269863811.mp4"}
+{"uid":"3676096358349907063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7568696650054039741.mp4"}
+{"uid":"12688714057024509226","text":"\u003ctask:success:discrete:False\u003e\nplace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candies in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e","video":"5927630402336108596.mp4"}
+{"uid":"13320451304372581097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7532140347504489157.mp4"}
+{"uid":"2219541973828406130","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candies in the tray 5- put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e","video":"14810272436455346661.mp4"}
+{"uid":"6057301142044735786","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the tray 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\nput the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e","video":"6401993900225524025.mp4"}
+{"uid":"11635032322815768127","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- place the candy in the tray 3- place the candy in the tray 4- place the candies in the tray 5- put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray 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: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the tray 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":"5815546486221456630.mp4"}
+{"uid":"12493948190524208441","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e","video":"12841883157544293294.mp4"}
+{"uid":"18176082483127198934","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray 7- put the candy in the tray box 8- put the candy in the tray box Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray 7- put the candy in the tray box 8- put the candy in the tray box Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray 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":"6041878998527906169.mp4"}
+{"uid":"1837579694788164591","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy in the tray 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":"5858283168445479267.mp4"}
+{"uid":"15980375737900017538","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstuck the cup and put it on the cup 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":"3095764449076846187.mp4"}
+{"uid":"17062973485957707201","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- place the candy in the tray 3- place the candies in the tray 4- put the candy in the tray box 5- put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e","video":"17044645280816522221.mp4"}
+{"uid":"11397633597734799355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown candy 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":"666217173799014140.mp4"}
+{"uid":"11978045885070088447","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray 7- put the candy in the tray box 8- put the candy in the tray box Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray 7- put the candy in the tray box 8- put the candy in the tray box Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e","video":"13974845435966930542.mp4"}
+{"uid":"2036820718490997496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"5799207230218544719.mp4"}
+{"uid":"12572230843169965013","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14735480601553068998.mp4"}
+{"uid":"14103130414179750935","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: place the candies in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candies in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candies in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the candies in the tray 2- put the candy in the tray box 3- put the candy in the tray box 4- place the candy in the tray 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candies in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: place the candies in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candies in the tray\n\u003c/PRED\u003e","video":"5566289223815035951.mp4"}
+{"uid":"2852755120798383814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4881348440388789113.mp4"}
+{"uid":"8276471615891115043","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the tray box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- place the candy in the tray 3- place the candies in the tray 4- put the candy in the tray box 5- put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e","video":"7344571376746993551.mp4"}
+{"uid":"8544138329592593137","text":"\u003ctask:success:discrete:False\u003e\nplace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the tray 2- put the candy in the tray box 3- place the candy in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15483956341620159103.mp4"}
+{"uid":"178464969253382563","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the holder forward 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":"11400364073912016565.mp4"}
+{"uid":"17613955456945217098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"95480654761211208.mp4"}
+{"uid":"4641518709993076662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the chair 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":"5812497095508980928.mp4"}
+{"uid":"17880271749542486807","text":"\u003ctask:success:discrete:True\u003e\nplace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e","video":"9150475172817160309.mp4"}
+{"uid":"13872961570358790198","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- put the candy in the tray box 3- place the candy in the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the tray 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":"8378392327901842448.mp4"}
+{"uid":"12095582828636973261","text":"\u003ctask:success:discrete:True\u003e\nplace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e","video":"7197659999211777706.mp4"}
+{"uid":"15745297873209117703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tissue box in carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14699618690760402790.mp4"}
+{"uid":"12164776415636972665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15866159320488495020.mp4"}
+{"uid":"9121804500277234015","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: Place the candies in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candies in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candies in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candies in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candies in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candies in the tray 2- put the candy in the tray box 3- put the candy in the tray box 4- place the candy in the tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: Place the candies in the tray\n\u003c/PRED\u003e","video":"13365204736086200166.mp4"}
+{"uid":"1610044191266856763","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":"4008659483004380256.mp4"}
+{"uid":"1782600461794467581","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4292242508941073948.mp4"}
+{"uid":"18397148102988478944","text":"\u003ctask:success:discrete:True\u003e\nplace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e","video":"10214203318326540643.mp4"}
+{"uid":"15657136759410768598","text":"\u003ctask:success:discrete:True\u003e\nplace the candies in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candies in the tray\n\u003c/PRED\u003e","video":"6294995595018549192.mp4"}
+{"uid":"5745131262680541502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green box in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5396058928627003134.mp4"}
+{"uid":"2678214055927478470","text":"\u003ctask:success:discrete:True\u003e\nplace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e","video":"14783499893485219606.mp4"}
+{"uid":"14263243806285033331","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray 7- put the candy in the tray box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- place the candy in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray 7- put the candy in the tray box Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e","video":"18391740269641778631.mp4"}
+{"uid":"11625581199581946091","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8740636028557741378.mp4"}
+{"uid":"15449496552925936418","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- place the candies in the tray 3- put the candy in the tray box 4- put the candy in the tray box 5- place the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e","video":"17485792240091296883.mp4"}
+{"uid":"11984498191353727587","text":"\u003ctask:success:discrete:False\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candies in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e","video":"9330467316383780082.mp4"}
+{"uid":"18146728060752319383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"513044372659269553.mp4"}
+{"uid":"1213099752756963624","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy in the tray 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":"6363402345463144560.mp4"}
+{"uid":"10744110505801603864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black cable in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6591223941526459441.mp4"}
+{"uid":"1356123986918524585","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray 7- put the candy in the tray box Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the tray 2- place the candy in the tray 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray 6- place the candies in the tray 7- put the candy in the tray box Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e","video":"831140720199795607.mp4"}
+{"uid":"1525876322309796310","text":"\u003ctask:success:discrete:True\u003e\nplace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e","video":"12317253993312377094.mp4"}
+{"uid":"12649489754820775364","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11677374741964915186.mp4"}
+{"uid":"8988039574301645626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9724431904640753655.mp4"}
+{"uid":"1935122383584844695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput forks in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2880155793936660873.mp4"}
+{"uid":"13597094990892917885","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the tray 2- place the candies in the tray 3- put the candy in the tray box 4- put the candy in the tray box 5- place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the tray\n\u003c/PRED\u003e","video":"4541148733647087707.mp4"}
+{"uid":"7600438570702541775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10148973971480075378.mp4"}
+{"uid":"17270196191277650014","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies into the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray 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: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies into the tray. last 20 steps: 1- place the candy in the tray 2- place the candy in the tray 3- place the candy in the tray 4- place the candy in the tray 5- place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray box 2- put the candy in the tray box 3- put the candy in the tray box 4- place the candy in the tray 5- done\n\u003c/PRED\u003e","video":"14285889467228520608.mp4"}
+{"uid":"11893062583670865460","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup 2- drop the tissue paper on a table 3- drop the spoon in a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange on a table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the orange on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup 2- drop the tissue paper on a table 3- drop the spoon in a table Q: immediate next step? \u003cPRED\u003eA: drop the orange on a table\n\u003c/PRED\u003e","video":"1193978483014587917.mp4"}
+{"uid":"3924421488888643084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5580917073881536881.mp4"}
+{"uid":"15698342231830940424","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2791200571256967401.mp4"}
+{"uid":"16950413162872305355","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please close all the doors to the phone rooms . last 20 steps: 1- close the door Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please close all the doors to the phone rooms . last 20 steps: 1- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- close the door 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please close all the doors to the phone rooms Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"13343217534732318608.mp4"}
+{"uid":"14791612706732520428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7014009423606231046.mp4"}
+{"uid":"10660759079978139684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace two brown packets in \n right brown packet section in rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4392564407152351628.mp4"}
+{"uid":"6536504272936541341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9683678222320505400.mp4"}
+{"uid":"15356200523038800175","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the packet in a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in a cup 2- drop the tissue paper on a table 3- drop the spoon in a table 4- drop the orange on a table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the packet in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet in a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in a cup\n\u003c/PRED\u003e","video":"13195008622754553130.mp4"}
+{"uid":"10161550563129771449","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup 2- drop the tissue paper on a table 3- drop the spoon in a table Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup 2- drop the tissue paper on a table 3- drop the spoon in a table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e","video":"7426354261060793989.mp4"}
+{"uid":"3253667687066089826","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please close all the doors to the phone rooms . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- close the door 3- close the door 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please close all the doors to the phone rooms Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please close all the doors to the phone rooms . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14715895743967187474.mp4"}
+{"uid":"11056169430535178902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12682627319940924553.mp4"}
+{"uid":"3127123129677493461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1889188829761985277.mp4"}
+{"uid":"9782326270521206233","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard Q: immediate next step? \u003cPRED\u003eA: grab the marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: grab the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- grab the marker 2- pick up the marker 3- write on the board 4- drop the marker on the table 5- done\n\u003c/PRED\u003e","video":"17156840500601833976.mp4"}
+{"uid":"17941076597130163148","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the marker 2- write on the board 3- drop the marker on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14640286940218527723.mp4"}
+{"uid":"5291430378411457247","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tissue paper on a table 2- drop the spoon in a table 3- drop the orange on a table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup Q: immediate next step? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tissue paper on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tissue paper on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9855201307492017891.mp4"}
+{"uid":"4811512642711867307","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet of matcha toasted rice 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":"6362755822550907864.mp4"}
+{"uid":"11946148762086835548","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon on brown paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup 2- drop the tissue paper on a table Q: immediate next step? \u003cPRED\u003eA: put spoon on brown paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup 2- drop the tissue paper on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon on brown paper 2- drop the orange on a table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon on brown paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon on brown paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon on brown paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put spoon on brown paper\n\u003c/PRED\u003e","video":"8291072910982744115.mp4"}
+{"uid":"5010949564842063399","text":"\u003ctask:success:discrete:True\u003e\npick up the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e","video":"4604511772977653267.mp4"}
+{"uid":"11069585433312576268","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker 3- write on the board 4- drop the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker 3- write on the board 4- drop the marker on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17483915453280845895.mp4"}
+{"uid":"18432171535365940905","text":"\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please close all the doors to the phone rooms . last 20 steps: 1- close the door 2- close the door 3- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please close all the doors to the phone rooms Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please close all the doors to the phone rooms . last 20 steps: 1- close the door 2- close the door 3- close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17467804074572925415.mp4"}
+{"uid":"16618558469139475837","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":"1331858326195854307.mp4"}
+{"uid":"2629541446494664471","text":"\u003ctask:success:discrete:True\u003e\ndrop the tissue paper on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e","video":"14738312869654348990.mp4"}
+{"uid":"4048946952835350818","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15803574260450175903.mp4"}
+{"uid":"12009837986757866847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3306800531333029259.mp4"}
+{"uid":"12754308735219669668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana on the 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":"9464618537850421010.mp4"}
+{"uid":"966211612741969481","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon on the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the spoon on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup 2- drop the tissue paper on a table Q: immediate next step? \u003cPRED\u003eA: put the spoon on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup 2- drop the tissue paper on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon on the tissue 2- drop the orange on a table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put the spoon on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon on the tissue\n\u003c/PRED\u003e","video":"7057488120826757434.mp4"}
+{"uid":"16001019342422569566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic spoon 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":"1013097012089004502.mp4"}
+{"uid":"14136199579712467360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3653323557044783038.mp4"}
+{"uid":"3733933025303552600","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ncover the jar with lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9544280467929616520.mp4"}
+{"uid":"13173903238992673872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the dark 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":"6427285384797261953.mp4"}
+{"uid":"14489871558879925992","text":"\u003ctask:success:discrete:True\u003e\nput the marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker 3- write on the board 4- put the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker 3- write on the board 4- put the marker on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9951999367113524715.mp4"}
+{"uid":"12295810514084946286","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup 2- drop the tissue paper on a table Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon in a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon in a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the spoon in a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup 2- drop the tissue paper on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon in a table 2- drop the orange on a table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon in a table\n\u003c/PRED\u003e","video":"11320387055889851431.mp4"}
+{"uid":"11807347258594948329","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup Q: next 5 steps? \u003cPRED\u003eA: 1- put brown paper on table 2- drop the spoon in a table 3- drop the orange on a table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put brown paper on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup Q: immediate next step? \u003cPRED\u003eA: put brown paper on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown paper on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown paper on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown paper on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown paper on table\n\u003c/PRED\u003e","video":"10091559282698909910.mp4"}
+{"uid":"4110903982280346421","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup 2- drop the tissue paper on a table 3- drop the spoon in a table Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup 2- drop the tissue paper on a table 3- drop the spoon in a table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16240578048788642062.mp4"}
+{"uid":"674343100225231844","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker 3- write on the board 4- put the marker on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker 3- write on the board 4- put the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8148973427855521582.mp4"}
+{"uid":"9013666784012311687","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard Q: immediate next step? \u003cPRED\u003eA: take the marker to the board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker Q: immediate next step? \u003cPRED\u003eA: take the marker to the board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake the marker to the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the marker to the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: take the marker to the board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take the marker to the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker Q: next 5 steps? \u003cPRED\u003eA: 1- take the marker to the board 2- write on the board 3- drop the marker on the table 4- done\n\u003c/PRED\u003e","video":"12853712366356751852.mp4"}
+{"uid":"17238878716352187719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a ROLD GOLD packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17465390591625814270.mp4"}
+{"uid":"15640349506789752672","text":"\u003ctask:success:discrete:False\u003e\npick up the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the marker 2- pick up the marker 3- write on the board 4- drop the marker on the table 5- done\n\u003c/PRED\u003e","video":"17371907861382306400.mp4"}
+{"uid":"10758934722740570897","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":"12955223756880766774.mp4"}
+{"uid":"420568176914457199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fruit 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":"8534315257105379974.mp4"}
+{"uid":"17195880489113719519","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker 3- write on the board Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard Q: immediate next step? \u003cPRED\u003eA: put the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker 3- write on the board Q: immediate next step? \u003cPRED\u003eA: put the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker on the table\n\u003c/PRED\u003e","video":"13504668557388963202.mp4"}
+{"uid":"685962984163185240","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup Q: immediate next step? \u003cPRED\u003eA: put the tissue on the table beside cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue on the table beside cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue on the table beside cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put the tissue on the table beside cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue on the table beside cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet in a cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue on the table beside cup 2- drop the spoon in a table 3- drop the orange on a table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue on the table beside cup\n\u003c/PRED\u003e","video":"15649411274633229772.mp4"}
+{"uid":"13829339778732789025","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please close all the doors to the phone rooms Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please close all the doors to the phone rooms . last 20 steps: 1- close the door 2- close the door Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please close all the doors to the phone rooms . last 20 steps: 1- close the door 2- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- done\n\u003c/PRED\u003e","video":"7094389263476344466.mp4"}
+{"uid":"12590341569365923276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"647843679249860214.mp4"}
+{"uid":"5402148573093840136","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the cup 2- drop the tissue paper on a table 3- drop the spoon in a table 4- drop the orange on a table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the cup\n\u003c/PRED\u003e","video":"2775047222532094145.mp4"}
+{"uid":"6455494803035549389","text":"\u003ctask:success:discrete:True\u003e\ntake the marker to the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take the marker to the board\n\u003c/PRED\u003e","video":"2650760940023648004.mp4"}
+{"uid":"13940196513412492284","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue on the table beside cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the tissue on the table beside cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6058624727565106651.mp4"}
+{"uid":"2532918421307478504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop tissue paper 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":"7529795228296364556.mp4"}
+{"uid":"15118594580448388246","text":"\u003ctask:success:discrete:True\u003e\ntake the marker to the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take the marker to the white board\n\u003c/PRED\u003e","video":"2350675905364524467.mp4"}
+{"uid":"15653694555951685531","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker 3- write on the board Q: immediate next step? \u003cPRED\u003eA: drop the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker 3- write on the board Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard Q: immediate next step? \u003cPRED\u003eA: drop the marker on the table\n\u003c/PRED\u003e","video":"17922691701774288909.mp4"}
+{"uid":"3752572906404849848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut guava 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":"16537161505683286160.mp4"}
+{"uid":"10051382400284813739","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"6816227248795674488.mp4"}
+{"uid":"11315598448692588516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace nut 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":"1237867929233098683.mp4"}
+{"uid":"16716740828045617214","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16593385764564325610.mp4"}
+{"uid":"6903300642247716457","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard Q: immediate next step? \u003cPRED\u003eA: put the marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker 3- write on the board Q: immediate next step? \u003cPRED\u003eA: put the marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker 3- write on the board Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7472192135528096958.mp4"}
+{"uid":"9848803170275539148","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put instant oatmeal pack in coffee cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put instant oatmeal pack in coffee cup 2- drop the tissue paper on a table 3- drop the spoon in a table 4- drop the orange on a table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put instant oatmeal pack in coffee cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput instant oatmeal pack in coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput instant oatmeal pack in coffee cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put instant oatmeal pack in coffee cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put instant oatmeal pack in coffee cup\n\u003c/PRED\u003e","video":"14997189630276662922.mp4"}
+{"uid":"17626061063719765058","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker Q: immediate next step? \u003cPRED\u003eA: take the marker to the white board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake the marker to the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard Q: immediate next step? \u003cPRED\u003eA: take the marker to the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker Q: next 5 steps? \u003cPRED\u003eA: 1- take the marker to the white board 2- write on the board 3- drop the marker on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker Q: immediate next step? \u003cPRED\u003eA: take the marker to the board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard Q: immediate next step? \u003cPRED\u003eA: take the marker to the white board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take the marker to the white board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take the marker to the board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the marker to the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take the marker to the white board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the marker to the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\ntake the marker to the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: take the marker to the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker Q: next 5 steps? \u003cPRED\u003eA: 1- take the marker to the board 2- drop the marker on the table 3- done\n\u003c/PRED\u003e","video":"10142655448455872854.mp4"}
+{"uid":"14609420096648314128","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker Q: immediate next step? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard. last 20 steps: 1- pick up the marker 2- pick up the marker Q: next 5 steps? \u003cPRED\u003eA: 1- write on the board 2- drop the marker on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: write on the board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the blue marker on the table and go draw a rectangle on the whiteboard Q: immediate next step? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwrite on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3934909692063316078.mp4"}
+{"uid":"12407277724195538219","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy 12- Put the candy on the candy 13- Put the candy on the candy 14- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy 12- Put the candy on the candy 13- Put the candy on the candy 14- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e","video":"16749158729536944504.mp4"}
+{"uid":"1220130646564540037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1304175341533818560.mp4"}
+{"uid":"3403737558689354112","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- Put the candy on the candy 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8739847977984683453.mp4"}
+{"uid":"18416472138508719762","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the candy 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":"13464204032283735712.mp4"}
+{"uid":"1556997821449337303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"10133613916360929267.mp4"}
+{"uid":"9953635868559593287","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer 5- Put the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup in the drawer 2- Put the cup in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer 5- Put the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e","video":"6187362805683579722.mp4"}
+{"uid":"556541923921709876","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13458298487541704016.mp4"}
+{"uid":"11530008216232864250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput mint box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6226121403674483626.mp4"}
+{"uid":"5256334242903200703","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- Put the candy on the candy 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e","video":"4847902235009372981.mp4"}
+{"uid":"16080392684724881472","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"2188209493290317567.mp4"}
+{"uid":"11950467206322200524","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1985927083199601271.mp4"}
+{"uid":"8811382510832583245","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup in the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e","video":"17904546757081101756.mp4"}
+{"uid":"8131927804972483143","text":"\u003ctask:success:discrete:True\u003e\nPut the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"2051110941743220568.mp4"}
+{"uid":"2774501044794412967","text":"\u003ctask:success:discrete:False\u003e\nPut the cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup in the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer 5- Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e","video":"5594011913466772671.mp4"}
+{"uid":"16880590118383639042","text":"\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"16555106693195558754.mp4"}
+{"uid":"5300270982401926402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1503778899759312693.mp4"}
+{"uid":"10801793150363072459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can in the plastic 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":"12118510400106878067.mp4"}
+{"uid":"14712188730557099221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pebble 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":"10164887654693589018.mp4"}
+{"uid":"7771222350890148323","text":"\u003ctask:success:discrete:True\u003e\nPut the cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e","video":"13548580073720145283.mp4"}
+{"uid":"8687154557453462859","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup in the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e","video":"15486982172698607848.mp4"}
+{"uid":"7845028695773730381","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"8152143498553702690.mp4"}
+{"uid":"8258929587833063511","text":"\u003ctask:success:discrete:True\u003e\nPut the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"16148506608324532713.mp4"}
+{"uid":"1283151209768706610","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"11398343792091299788.mp4"}
+{"uid":"8026770372225363815","text":"\u003ctask:success:discrete:True\u003e\nPut the cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e","video":"8603677876587335929.mp4"}
+{"uid":"11255892472881523260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candies in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15194638390627396616.mp4"}
+{"uid":"14095766520369437392","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- Put the candy on the candy 4- Put the candy on the candy 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e","video":"1879818997287436980.mp4"}
+{"uid":"2833210444609873085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"7458000054617182478.mp4"}
+{"uid":"857053877920208787","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy 12- Put the candy on the candy 13- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy 12- Put the candy on the candy 13- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2812053342846644520.mp4"}
+{"uid":"9022037346569461087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5070020659066924113.mp4"}
+{"uid":"15449787287718656584","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the candy 3- Put the candy on the candy 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e","video":"2105439176044998123.mp4"}
+{"uid":"3196651694044778447","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table\n\u003c/PRED\u003e","video":"12702695620478315918.mp4"}
+{"uid":"15358346425799672198","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove a small bowl little right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9833155107523637737.mp4"}
+{"uid":"141842787382073769","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- Put the candy on the candy 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy on the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10636124128813366715.mp4"}
+{"uid":"5375801286501916211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14679271718431397736.mp4"}
+{"uid":"3693485865693473874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12887362906600684841.mp4"}
+{"uid":"2011849374993838065","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the candy 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"11558291085475422308.mp4"}
+{"uid":"4144550847132841623","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy 12- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy 11- Put the candy on the candy 12- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- Put the candy on the candy 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6276484952880486768.mp4"}
+{"uid":"13982453748096665563","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup 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":"8435116228204609669.mp4"}
+{"uid":"4910929012916774683","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer 5- Put the cup in the drawer 6- Put the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer 5- Put the cup in the drawer 6- Put the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5244775472350761007.mp4"}
+{"uid":"7121218488518602977","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer 5- Put the cup in the drawer 6- Put the cup in the drawer 7- Put the cup in the drawer 8- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer 5- Put the cup in the drawer 6- Put the cup in the drawer 7- Put the cup in the drawer 8- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"16704190445881257194.mp4"}
+{"uid":"10961996972409683007","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in left side 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":"133927858169607667.mp4"}
+{"uid":"14112808631245763006","text":"\u003ctask:success:discrete:True\u003e\nPut the candy on the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 candy on the candy\n\u003c/PRED\u003e","video":"9238178311911762972.mp4"}
+{"uid":"12776076656847508869","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table\n\u003c/PRED\u003e","video":"15458508649688337395.mp4"}
+{"uid":"3694069429957750594","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17450625623607182428.mp4"}
+{"uid":"17059911487010968066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8808923914112084793.mp4"}
+{"uid":"1538239131892553378","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8101881413528814148.mp4"}
+{"uid":"6863025295302146029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5910476606942337156.mp4"}
+{"uid":"10363879810689776160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the green 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":"14191074571591678923.mp4"}
+{"uid":"4415971582410791449","text":"\u003ctask:success:discrete:True\u003e\nPut the cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e","video":"13408210738534640554.mp4"}
+{"uid":"13331428654277643916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17995493468425564502.mp4"}
+{"uid":"12159546236914030295","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":"16175237171302028720.mp4"}
+{"uid":"7122468360069451783","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup in the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer 5- Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5208699604569447716.mp4"}
+{"uid":"17349998877672083376","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- Put the candy on the table 2- Put the candy on the table 3- Put the candy on the table 4- Put the candy on the table 5- Put the candy on the table 6- Put the candy on the table 7- Put the candy on the table 8- Put the candy on the candy 9- Put the candy on the candy 10- Put the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the candy 2- Put the candy on the candy 3- Put the candy on the candy 4- Put the candy on the candy 5- Put the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the candy\n\u003c/PRED\u003e","video":"6183449558997148355.mp4"}
+{"uid":"4184362995647552741","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"12059867948282817722.mp4"}
+{"uid":"7656309307727301265","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer 5- Put the cup in the drawer\n\u003c/PRED\u003e","video":"17117036918349628059.mp4"}
+{"uid":"12576560589975782956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the white bottle in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15133851753038272362.mp4"}
+{"uid":"18135573594101378818","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer 5- Put the cup in the drawer 6- Put the cup in the drawer 7- Put the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the drawer 2- Put the cup in the drawer 3- Put the cup in the drawer 4- Put the cup in the drawer 5- Put the cup in the drawer 6- Put the cup in the drawer 7- Put the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e","video":"10708085442001751289.mp4"}
+{"uid":"4816392693650776339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15160217413770318298.mp4"}
+{"uid":"2064864597519768172","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book in the locker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley Q: immediate next step? \u003cPRED\u003eA: place the book in the locker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book in the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book in the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book in the locker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: place the book in the locker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- place the book in the locker 2- place the book in the locker 3- put the scissor in the locker 4- put the blue pen in the locker 5- put the black pen in the locker\n\u003c/PRED\u003e","video":"2412497933289123514.mp4"}
+{"uid":"2960975459155761898","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: move the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker Q: immediate next step? \u003cPRED\u003eA: move the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker Q: next 5 steps? \u003cPRED\u003eA: 1- move the trolley 2- open the locker 3- move the trolley 4- place the book in the locker 5- place the book in the locker\n\u003c/PRED\u003e","video":"2814728451121654929.mp4"}
+{"uid":"16831044123476592283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2361376617093995976.mp4"}
+{"uid":"12817636451864978684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tissue stand left side in sequence Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17199984842320488159.mp4"}
+{"uid":"43817371773776699","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4779233853975001567.mp4"}
+{"uid":"15060715103577810153","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer 6- pick up the pen 7- Drop the pen in the drawer 8- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer 6- pick up the pen 7- Drop the pen in the drawer 8- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"5393110931067965323.mp4"}
+{"uid":"5012646654559648316","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- open the locker 2- move the trolley 3- place the book in the locker 4- place the book in the locker 5- put the scissor in the locker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley Q: immediate next step? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14650915955409906650.mp4"}
+{"uid":"5362648955278457808","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker 14- put the scissor in the locker 15- put the blue pen in the locker Q: immediate next step? \u003cPRED\u003eA: put the black pen in the locker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: put the black pen in the locker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker 14- put the scissor in the locker 15- put the blue pen in the locker Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the locker 2- move the trolley 3- close the locker 4- move the trolley to the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen in the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the locker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the locker\n\u003c/PRED\u003e","video":"567762594199806462.mp4"}
+{"uid":"9032898785226024224","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the trolley to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the trolley to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker 14- put the scissor in the locker 15- put the blue pen in the locker 16- put the black pen in the locker 17- move the trolley 18- close the locker Q: next 5 steps? \u003cPRED\u003eA: 1- move the trolley to the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker 14- put the scissor in the locker 15- put the blue pen in the locker 16- put the black pen in the locker 17- move the trolley 18- close the locker Q: immediate next step? \u003cPRED\u003eA: move the trolley to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: move the trolley to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the trolley to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the trolley to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14093613252935596640.mp4"}
+{"uid":"14916459870963494540","text":"\u003ctask:success:discrete:True\u003e\nput pen in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e","video":"4290759482552170787.mp4"}
+{"uid":"17485566146275450705","text":"\u003ctask:success:discrete:True\u003e\nmove the trolley to the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the trolley to the locker\n\u003c/PRED\u003e","video":"2524893462705049423.mp4"}
+{"uid":"15350198539319130454","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput duster in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put duster in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put duster in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput duster in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put duster in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put duster in tray 2- put the marker in the drawer 3- pick up the pen 4- Drop the pen in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: put duster in tray\n\u003c/PRED\u003e","video":"11409809262520916892.mp4"}
+{"uid":"15511850473720157296","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer 6- pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in tray 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer 6- pick up the pen Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e","video":"9798803704636085437.mp4"}
+{"uid":"983376635801947383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the seaweed packet in the right side of 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":"7867168853937945271.mp4"}
+{"uid":"4295807052107080807","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the trolley to the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: move the trolley to the locker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the trolley to the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the trolley to the locker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley Q: immediate next step? \u003cPRED\u003eA: move the trolley to the locker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- move the trolley to the locker 2- open the locker 3- move the trolley 4- open the locker 5- move the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the trolley to the locker\n\u003c/PRED\u003e","video":"16793882944382943055.mp4"}
+{"uid":"15493080350164117425","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"234305770623499450.mp4"}
+{"uid":"10120315358461995866","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move tray out\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move tray out\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove tray out Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move tray out\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove tray out Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move tray out 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: move tray out\n\u003c/PRED\u003e","video":"7736807887515315957.mp4"}
+{"uid":"8267686966275610142","text":"\u003ctask:success:discrete:True\u003e\nplace the trolley near the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the trolley near the table\n\u003c/PRED\u003e","video":"9816075424214301385.mp4"}
+{"uid":"5733575958043228551","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: put duster in drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put duster in drawer 2- put the marker in the drawer 3- pick up the pen 4- Drop the pen in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput duster in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put duster in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put duster in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput duster in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put duster in drawer\n\u003c/PRED\u003e","video":"12528468381547470310.mp4"}
+{"uid":"13464351020233965362","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the locker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the locker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker 14- put the scissor in the locker Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the locker 2- put the black pen in the locker 3- move the trolley 4- close the locker 5- move the trolley to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the locker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker 14- put the scissor in the locker Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the locker\n\u003c/PRED\u003e","video":"15245662401070360771.mp4"}
+{"uid":"9962787633499926215","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a white packet on the right column of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14654442568435491780.mp4"}
+{"uid":"14849228144888540074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17907494551692552725.mp4"}
+{"uid":"4423225644608225453","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put marker in the drawer 2- pick up the pen 3- Drop the pen in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray Q: immediate next step? \u003cPRED\u003eA: Put marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: Put marker in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put marker in the drawer\n\u003c/PRED\u003e","video":"9303502685757548124.mp4"}
+{"uid":"1557837445932318656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove alphabet tile to the right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2524503647554486047.mp4"}
+{"uid":"17353696679892124270","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table Q: immediate next step? \u003cPRED\u003eA: place the book in the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: place the book in the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book in the trolley 2- place the book in the trolley 3- place the blue pen in the trolley 4- place the black pen in the trolley 5- place the scissor in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6469701396156228809.mp4"}
+{"uid":"11123867823717180573","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: put the duster in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the duster in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster Q: immediate next step? \u003cPRED\u003eA: put the duster in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the duster in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster Q: next 5 steps? \u003cPRED\u003eA: 1- put the duster in the drawer 2- pickup the marker 3- put the marker in the drawer 4- pick up the pen 5- Drop the pen in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the duster in the drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the duster in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6018454493601705462.mp4"}
+{"uid":"6289672577404779523","text":"\u003ctask:success:discrete:True\u003e\nmove the trolley to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker 14- put the scissor in the locker 15- put the blue pen in the locker 16- put the black pen in the locker 17- move the trolley 18- close the locker 19- move the trolley to the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the trolley to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker 14- put the scissor in the locker 15- put the blue pen in the locker 16- put the black pen in the locker 17- move the trolley 18- close the locker 19- move the trolley to the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12017903781384893562.mp4"}
+{"uid":"3652868236869565108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17454469967433769806.mp4"}
+{"uid":"15950430542233648948","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":"16472744200463698519.mp4"}
+{"uid":"11451226429603868679","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley Q: immediate next step? \u003cPRED\u003eA: place the black pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: place the black pen in the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen in the trolley 2- place the scissor in the trolley 3- move the trolley to the locker 4- open the locker 5- move the trolley\n\u003c/PRED\u003e","video":"7100267365612759077.mp4"}
+{"uid":"18352231728689226231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink marker in the pink markers 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":"2408272095448218720.mp4"}
+{"uid":"16531070376871228065","text":"\u003ctask:success:discrete:True\u003e\nplace the book in the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book in the locker\n\u003c/PRED\u003e","video":"3000102621253595925.mp4"}
+{"uid":"5275646113266074507","text":"\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"12152207964700823992.mp4"}
+{"uid":"15095698887044502051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10849652742127530183.mp4"}
+{"uid":"14940989063237796788","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker Q: next 5 steps? \u003cPRED\u003eA: 1- open the locker 2- move the trolley 3- open the locker 4- move the trolley 5- place the book in the locker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker Q: immediate next step? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e","video":"4107449428090997340.mp4"}
+{"uid":"10346314043175288738","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: place the scissor in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the scissor in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the scissor in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the scissor in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- place the scissor in the trolley 2- move the trolley to the locker 3- open the locker 4- move the trolley 5- open the locker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley Q: immediate next step? \u003cPRED\u003eA: place the scissor in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the scissor in the trolley\n\u003c/PRED\u003e","video":"6512378207473846273.mp4"}
+{"uid":"11422550960058111180","text":"\u003ctask:success:discrete:True\u003e\nplace the book in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book in the trolley\n\u003c/PRED\u003e","video":"4578413699792966784.mp4"}
+{"uid":"1001282390922508828","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: place the trolley near the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the trolley near the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the trolley near the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the trolley near the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the trolley near the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 trolley near the table\n\u003c/PRED\u003e","video":"8251981567868601868.mp4"}
+{"uid":"4473181350934940850","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: move the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker Q: next 5 steps? \u003cPRED\u003eA: 1- move the trolley 2- place the book in the locker 3- place the book in the locker 4- put the scissor in the locker 5- put the blue pen in the locker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker Q: immediate next step? \u003cPRED\u003eA: move the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the trolley\n\u003c/PRED\u003e","video":"3619194793921949645.mp4"}
+{"uid":"12268755750920334043","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"15463141687643491937.mp4"}
+{"uid":"14162579154770487236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the chocolates in the candy 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":"10818526818798082654.mp4"}
+{"uid":"13013853148183971127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1827552268478482349.mp4"}
+{"uid":"4753026184299056433","text":"\u003ctask:success:discrete:False\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen 2- Drop the pen in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17387208141307543777.mp4"}
+{"uid":"17165737831021415928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16727255460092029364.mp4"}
+{"uid":"13728545553202902411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRotate the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13129842106359879513.mp4"}
+{"uid":"7538191455364682695","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the trolley 2- place the black pen in the trolley 3- place the scissor in the trolley 4- move the trolley to the locker 5- open the locker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue pen in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in the trolley\n\u003c/PRED\u003e","video":"822793480298051422.mp4"}
+{"uid":"5192680071378944431","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put duster in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput duster in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17440425159555928315.mp4"}
+{"uid":"5781500151537737016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the pens a side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2514320079527186510.mp4"}
+{"uid":"4930061610274480529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two sugar packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10924005426905035273.mp4"}
+{"uid":"7075680009366831904","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move tray out\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove tray out Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5672817314036741181.mp4"}
+{"uid":"8318536902357284300","text":"\u003ctask:success:discrete:True\u003e\nDrop the pen in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pen in the drawer\n\u003c/PRED\u003e","video":"1169242255122893413.mp4"}
+{"uid":"1399972297252799144","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker Q: immediate next step? \u003cPRED\u003eA: put the marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the drawer 2- pick up the pen 3- Drop the pen in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: put the marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker in the drawer\n\u003c/PRED\u003e","video":"8248041339740414663.mp4"}
+{"uid":"17168983937690339975","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer 6- pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer 6- pick up the pen Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen in the drawer\n\u003c/PRED\u003e","video":"4527750816624409663.mp4"}
+{"uid":"8965559534234565550","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":"7576566837718553933.mp4"}
+{"uid":"1688610983705897444","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker 14- put the scissor in the locker 15- put the blue pen in the locker 16- put the black pen in the locker Q: immediate next step? \u003cPRED\u003eA: move the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: move the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker 14- put the scissor in the locker 15- put the blue pen in the locker 16- put the black pen in the locker Q: next 5 steps? \u003cPRED\u003eA: 1- move the trolley 2- close the locker 3- move the trolley to the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11618874749821624030.mp4"}
+{"uid":"18328631619331917353","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5521898372571736198.mp4"}
+{"uid":"1239024917307488616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7683979471138608304.mp4"}
+{"uid":"4134215921441797130","text":"\u003ctask:success:discrete:True\u003e\npickup the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e","video":"14664542308297862459.mp4"}
+{"uid":"8021840465120215523","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker Q: immediate next step? \u003cPRED\u003eA: put the scissor in the locker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker Q: next 5 steps? \u003cPRED\u003eA: 1- put the scissor in the locker 2- put the blue pen in the locker 3- put the black pen in the locker 4- move the trolley 5- close the locker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scissor in the locker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scissor in the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scissor in the locker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the scissor in the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: put the scissor in the locker\n\u003c/PRED\u003e","video":"128807260829283661.mp4"}
+{"uid":"12887085630635638333","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book in the locker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the book in the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10093568070690683007.mp4"}
+{"uid":"15156239977044477891","text":"\u003ctask:success:discrete:True\u003e\nput marker in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put marker in tray\n\u003c/PRED\u003e","video":"13583225656552863950.mp4"}
+{"uid":"13831444723114702193","text":"\u003ctask:success:discrete:True\u003e\nclose the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the locker\n\u003c/PRED\u003e","video":"15240044212827722187.mp4"}
+{"uid":"1589240680288065320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the plastic glass 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":"10887181958377745458.mp4"}
+{"uid":"17813617137758401407","text":"\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer 6- pick up the pen 7- Drop the pen in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer 6- pick up the pen 7- Drop the pen in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"9955591994328718711.mp4"}
+{"uid":"6125059236995266269","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker 14- put the scissor in the locker 15- put the blue pen in the locker 16- put the black pen in the locker 17- move the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- close the locker 2- move the trolley to the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker 13- place the book in the locker 14- put the scissor in the locker 15- put the blue pen in the locker 16- put the black pen in the locker 17- move the trolley Q: immediate next step? \u003cPRED\u003eA: close the locker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the locker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the locker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: close the locker\n\u003c/PRED\u003e","video":"4767589363616771520.mp4"}
+{"uid":"11568196450281209718","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput marker in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put marker in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray Q: immediate next step? \u003cPRED\u003eA: put marker in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put marker in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put marker in tray 2- Drop the pen in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: put marker in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput marker in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15966621326661089332.mp4"}
+{"uid":"7617943296171655914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9668991688451999283.mp4"}
+{"uid":"10808581681310460973","text":"\u003ctask:success:discrete:True\u003e\nput duster in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put duster in tray\n\u003c/PRED\u003e","video":"8998444573360759499.mp4"}
+{"uid":"4870194649357769510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace yellowish packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7194425041071021459.mp4"}
+{"uid":"6938682773783655450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13020686960595927782.mp4"}
+{"uid":"8823065913813272789","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the duster 2- pickup the marker 3- put the marker in the drawer 4- pick up the pen 5- Drop the pen in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3295060946933651584.mp4"}
+{"uid":"2582708149564693704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white 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":"3809645349804000633.mp4"}
+{"uid":"5537807160110905775","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: place the book in the locker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book in the locker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book in the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book in the locker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker Q: next 5 steps? \u003cPRED\u003eA: 1- place the book in the locker 2- put the scissor in the locker 3- put the blue pen in the locker 4- put the black pen in the locker 5- move the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley 3- place the book in the trolley 4- place the blue pen in the trolley 5- place the black pen in the trolley 6- place the scissor in the trolley 7- move the trolley to the locker 8- open the locker 9- move the trolley 10- open the locker 11- move the trolley 12- place the book in the locker Q: immediate next step? \u003cPRED\u003eA: place the book in the locker\n\u003c/PRED\u003e","video":"12038804225638206459.mp4"}
+{"uid":"18331236923446200130","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the marker 2- put the marker in the drawer 3- pick up the pen 4- Drop the pen in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the duster in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the duster in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster Q: immediate next step? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e","video":"5528445052255651922.mp4"}
+{"uid":"2230250850795550208","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley Q: immediate next step? \u003cPRED\u003eA: place the book in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after. last 20 steps: 1- place the trolley near the table 2- place the book in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- place the book in the trolley 2- place the blue pen in the trolley 3- place the black pen in the trolley 4- place the scissor in the trolley 5- move the trolley to the locker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Use the cart to gather the items on my desk, then place them all into locker #20. Bring the cart back to me after Q: immediate next step? \u003cPRED\u003eA: place the book in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book in the trolley\n\u003c/PRED\u003e","video":"2988591306004781626.mp4"}
+{"uid":"5864403084765783953","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer 6- pick up the pen 7- Drop the pen in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer 6- pick up the pen 7- Drop the pen in the drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"3861577257807961423.mp4"}
+{"uid":"6285036993517248074","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":"3625397778349359206.mp4"}
+{"uid":"927471319633091834","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11247546599091683997.mp4"}
+{"uid":"3999311405667456070","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9585252654074652028.mp4"}
+{"uid":"15075438604519236076","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":"16976560783058722788.mp4"}
+{"uid":"14022149330927741972","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1069770629843621660.mp4"}
+{"uid":"10330770010533585441","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15882912099514042384.mp4"}
+{"uid":"10482215210555168333","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"15531157422388216087.mp4"}
+{"uid":"4777909077677916500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7694553188242551509.mp4"}
+{"uid":"4896588704960909904","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Pick up pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet Q: immediate next step? \u003cPRED\u003eA: Pick up pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the sharpie, the marker and the eraser into the file cabinet top caddy, then close the file cabinet. last 20 steps: 1- open the drawer 2- pick up the duster 3- put duster in tray 4- pickup the marker 5- put the marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up pen 2- Drop the pen in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14910592995606994013.mp4"}
+{"uid":"7005442847073891715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knifes 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":"638122673272387766.mp4"}
+{"uid":"5808959686365346694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the hexagon 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":"7339279920529212197.mp4"}
+{"uid":"17657537904929359411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop glass into box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12510095521876758550.mp4"}
+{"uid":"5293106517249668651","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1202292633530578735.mp4"}
+{"uid":"11198092160008124205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the plastic bottle on upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15703116851439967099.mp4"}
+{"uid":"12765504451910482155","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: Put the glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table\n\u003c/PRED\u003e","video":"8685824637278141680.mp4"}
+{"uid":"16224088367341590259","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput sprite can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sprite can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sprite can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sprite can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: put sprite can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table Q: immediate next step? \u003cPRED\u003eA: put sprite can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put sprite can on the table 2- Put the tetra pack on the table 3- Put the white sparkling can on the table 4- Put the white sparkling can on the table 5- put yellow can on the table\n\u003c/PRED\u003e","video":"4648346203061312137.mp4"}
+{"uid":"9442834253389254631","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9387671529594245519.mp4"}
+{"uid":"763258192223192639","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: 1- open the cap 2- pick up tissue Q: next 5 steps? \u003cPRED\u003eA: 1- drop tissue on the table 2- clean the table 3- close the cap 4- put tissue in the dustbin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop tissue on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. Q: immediate next step? \u003cPRED\u003eA: drop tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: 1- open the cap 2- pick up tissue Q: immediate next step? \u003cPRED\u003eA: drop tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13524547767266656975.mp4"}
+{"uid":"15410695064966783885","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1652845899051833949.mp4"}
+{"uid":"13740714984447413780","text":"\u003ctask:success:discrete:False\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: 1- open the cap 2- pick up tissue 3- drop tissue on the table Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: 1- open the cap 2- pick up tissue 3- drop tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table 2- close the cap 3- put tissue in the dustbin 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e","video":"14059146357521720486.mp4"}
+{"uid":"4751428835730638335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5035115516609463480.mp4"}
+{"uid":"14168108126252096685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the lid of 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":"14064764553820723376.mp4"}
+{"uid":"111869685164193791","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sprite can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sprite can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sprite can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the sprite can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: Put the sprite can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table Q: immediate next step? \u003cPRED\u003eA: Put the sprite can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sprite can on the table 2- Put the tetra pack on the table 3- Put the white sparkling can on the table 4- Put the white sparkling can on the table 5- put yellow can on the table\n\u003c/PRED\u003e","video":"30707811842424089.mp4"}
+{"uid":"5777123265747602938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the stick inside the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"895431426258312470.mp4"}
+{"uid":"8194231272761906034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chess coin in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15417128759772791487.mp4"}
+{"uid":"5941134194701508119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"669915407400106981.mp4"}
+{"uid":"12357960605420453061","text":"\u003ctask:success:discrete:True\u003e\nplace the paper glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the paper glass on the table\n\u003c/PRED\u003e","video":"13068975314547698320.mp4"}
+{"uid":"11944113509274061645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8659971941341240253.mp4"}
+{"uid":"11157078667217966686","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: place the white can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table Q: immediate next step? \u003cPRED\u003eA: place the white can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the white can on the table 2- Put the white sparkling can on the table 3- put yellow can on the table 4- done\n\u003c/PRED\u003e","video":"1940770076971909777.mp4"}
+{"uid":"13631518586624831607","text":"\u003ctask:success:discrete:True\u003e\nPut the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e","video":"14566086956186964697.mp4"}
+{"uid":"18044806324403731552","text":"\u003ctask:success:discrete:True\u003e\nplace the white can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white can on the table\n\u003c/PRED\u003e","video":"14625031170743293798.mp4"}
+{"uid":"11012170793878383083","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cable 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":"4745165053519638615.mp4"}
+{"uid":"17794952102047890540","text":"\u003ctask:success:discrete:True\u003e\nput white can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white can on the table\n\u003c/PRED\u003e","video":"8959177340415449224.mp4"}
+{"uid":"16145871467185102009","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the ginger lemon kombucha\ncan on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the ginger lemon kombucha\ncan on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the ginger lemon kombucha\ncan on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the ginger lemon kombucha\ncan on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: Put the ginger lemon kombucha\ncan on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table 6- Put the white sparkling can on the table Q: immediate next step? \u003cPRED\u003eA: Put the ginger lemon kombucha\ncan on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table 6- Put the white sparkling can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the ginger lemon kombucha\ncan on the table 2- done\n\u003c/PRED\u003e","video":"9326127555757834546.mp4"}
+{"uid":"12086579143740525314","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. Q: immediate next step? \u003cPRED\u003eA: close the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: 1- open the cap 2- pick up tissue 3- drop tissue on the table 4- clean the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the cap 2- put tissue in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: 1- open the cap 2- pick up tissue 3- drop tissue on the table 4- clean the table Q: immediate next step? \u003cPRED\u003eA: close the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cap\n\u003c/PRED\u003e","video":"8400084921928800440.mp4"}
+{"uid":"6229436198650023507","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the hind bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the hind bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the hind bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the hind bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: put the hind bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table Q: immediate next step? \u003cPRED\u003eA: put the hind bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the hind bottle on the table 2- Put the sprite can on the table 3- Put the tetra pack on the table 4- Put the white sparkling can on the table 5- Put the white sparkling can on the table\n\u003c/PRED\u003e","video":"11474714680185539419.mp4"}
+{"uid":"18352964558159225168","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: put paper cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put paper cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put paper cup on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table\n\u003c/PRED\u003e","video":"16157406401267232117.mp4"}
+{"uid":"636270629915646481","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: put white can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table Q: immediate next step? \u003cPRED\u003eA: put white can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put white can on the table 2- Put the white sparkling can on the table 3- put yellow can on the table 4- done\n\u003c/PRED\u003e","video":"10454800414451915966.mp4"}
+{"uid":"17910823090615087394","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":"5289306962777077695.mp4"}
+{"uid":"9039125618567843178","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the vita coco on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the vita coco on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the vita coco on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the vita coco on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: place the vita coco on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table Q: immediate next step? \u003cPRED\u003eA: place the vita coco on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the vita coco on the table 2- Put the white sparkling can on the table 3- Put the white sparkling can on the table 4- put yellow can on the table 5- done\n\u003c/PRED\u003e","video":"4931721936694107398.mp4"}
+{"uid":"15574834602529651589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2154288635158918307.mp4"}
+{"uid":"11698481083450676222","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. Q: immediate next step? \u003cPRED\u003eA: put tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: 1- open the cap 2- pick up tissue 3- drop tissue on the table 4- clean the table 5- close the cap Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: 1- open the cap 2- pick up tissue 3- drop tissue on the table 4- clean the table 5- close the cap Q: immediate next step? \u003cPRED\u003eA: put tissue in the dustbin\n\u003c/PRED\u003e","video":"570474440545386717.mp4"}
+{"uid":"6070976333633975171","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table Q: immediate next step? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bottle on the table 2- Put the sprite can on the table 3- Put the tetra pack on the table 4- Put the white sparkling can on the table 5- Put the white sparkling can on the table\n\u003c/PRED\u003e","video":"8195846625482627657.mp4"}
+{"uid":"10870649142094803806","text":"\u003ctask:success:discrete:True\u003e\nput hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put hint bottle on the table\n\u003c/PRED\u003e","video":"4281956853575890104.mp4"}
+{"uid":"6355466804047205357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngripper move 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":"14420567188073188252.mp4"}
+{"uid":"6780015524019602024","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white sparkling can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white sparkling can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white sparkling can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white sparkling can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: Put the white sparkling can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table Q: immediate next step? \u003cPRED\u003eA: Put the white sparkling can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white sparkling can on the table 2- Put the white sparkling can on the table 3- put yellow can on the table 4- done\n\u003c/PRED\u003e","video":"15269415692666811592.mp4"}
+{"uid":"2153888727558314016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5948009254384991846.mp4"}
+{"uid":"14276622094271053674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8230681342382801394.mp4"}
+{"uid":"14769689999628772906","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana on the 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":"10763098581566456319.mp4"}
+{"uid":"9491141979532233460","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white sparkling can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white sparkling can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white sparkling can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: Put the white sparkling can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table Q: immediate next step? \u003cPRED\u003eA: Put the white sparkling can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white sparkling can on the table 2- put yellow can on the table 3- done\n\u003c/PRED\u003e","video":"2248009531056276575.mp4"}
+{"uid":"9557151454472137218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3513372569921651121.mp4"}
+{"uid":"7520858106864746438","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14193865822331663751.mp4"}
+{"uid":"16157050754669106698","text":"\u003ctask:success:discrete:True\u003e\nplace the orange can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table 6- Put the white sparkling can on the table 7- place the orange can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table 6- Put the white sparkling can on the table 7- place the orange can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4839540847684151163.mp4"}
+{"uid":"9574397172705705140","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: put white can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table Q: immediate next step? \u003cPRED\u003eA: put white can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put white can on the table 2- put yellow can on the table 3- done\n\u003c/PRED\u003e","video":"956220741726042937.mp4"}
+{"uid":"9808083859881111219","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tissue in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: 1- open the cap 2- pick up tissue 3- drop tissue on the table 4- clean the table 5- close the cap 6- put tissue in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: 1- open the cap 2- pick up tissue 3- drop tissue on the table 4- clean the table 5- close the cap 6- put tissue in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4124041997180886689.mp4"}
+{"uid":"13164617758728098834","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: Place the green can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table Q: immediate next step? \u003cPRED\u003eA: Place the green can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green can on the table 2- Put the tetra pack on the table 3- Put the white sparkling can on the table 4- Put the white sparkling can on the table 5- put yellow can on the table\n\u003c/PRED\u003e","video":"7795918388451632490.mp4"}
+{"uid":"10128586058702166498","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tetra pack on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tetra pack on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tetra pack on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tetra pack on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: Put the tetra pack on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table Q: immediate next step? \u003cPRED\u003eA: Put the tetra pack on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tetra pack on the table 2- Put the white sparkling can on the table 3- Put the white sparkling can on the table 4- put yellow can on the table 5- done\n\u003c/PRED\u003e","video":"15794098855235409046.mp4"}
+{"uid":"16562132762251514733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3933607532061688826.mp4"}
+{"uid":"17943431830324486510","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":"17062787458067849025.mp4"}
+{"uid":"11295288295381408061","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sugar packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12855349860902344336.mp4"}
+{"uid":"16443672792653993009","text":"\u003ctask:success:discrete:True\u003e\nput paper cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put paper cup on the table\n\u003c/PRED\u003e","video":"14250555230431868818.mp4"}
+{"uid":"13822174724043011116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9037435785601211284.mp4"}
+{"uid":"12106195915276482678","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. Q: immediate next step? \u003cPRED\u003eA: open the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the cap 2- pick up tissue 3- drop tissue on the table 4- clean the table 5- close the cap\n\u003c/PRED\u003e","video":"16328527462422806719.mp4"}
+{"uid":"7415195265022434907","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: put yellow can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table 6- Put the white sparkling can on the table Q: immediate next step? \u003cPRED\u003eA: put yellow can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table 6- Put the white sparkling can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow can on the table 2- done\n\u003c/PRED\u003e","video":"1111379421624549420.mp4"}
+{"uid":"1889788513667838617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5664713159868527842.mp4"}
+{"uid":"3492698123142909532","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: 1- open the cap Q: next 5 steps? \u003cPRED\u003eA: 1- pick up tissue 2- drop tissue on the table 3- clean the table 4- close the cap 5- put tissue in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. last 20 steps: 1- open the cap Q: immediate next step? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please wipe down the counter with all the writing utensils on it. Q: immediate next step? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5589361168498848031.mp4"}
+{"uid":"13028024332645358243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5536149492792705977.mp4"}
+{"uid":"10312277865874622324","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the paper glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the paper glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: place the paper glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the paper glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table\n\u003c/PRED\u003e","video":"17580601976193016102.mp4"}
+{"uid":"12294277159702431212","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table 6- Put the white sparkling can on the table Q: immediate next step? \u003cPRED\u003eA: place the orange can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table 6- Put the white sparkling can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange can on the table 2- done\n\u003c/PRED\u003e","video":"6435231831063840093.mp4"}
+{"uid":"17880059424978665074","text":"\u003ctask:success:discrete:True\u003e\nPut the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the glass on the table\n\u003c/PRED\u003e","video":"7634813772783663908.mp4"}
+{"uid":"277773965143597517","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: put hint bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table Q: immediate next step? \u003cPRED\u003eA: put hint bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put hint bottle on the table 2- Put the sprite can on the table 3- Put the tetra pack on the table 4- Put the white sparkling can on the table 5- Put the white sparkling can on the table\n\u003c/PRED\u003e","video":"13457945341203505437.mp4"}
+{"uid":"7144586741723361319","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17108641022591202916.mp4"}
+{"uid":"11741651533649991355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5488967270111963995.mp4"}
+{"uid":"15208072905330015493","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: put blue bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table Q: immediate next step? \u003cPRED\u003eA: put blue bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue bottle on the table 2- Put the white sparkling can on the table 3- Put the white sparkling can on the table 4- put yellow can on the table 5- done\n\u003c/PRED\u003e","video":"7225779649068663690.mp4"}
+{"uid":"1464578355368540109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1704667954962256111.mp4"}
+{"uid":"17908498337024503317","text":"\u003ctask:success:discrete:True\u003e\nPut the white sparkling can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white sparkling can on the table\n\u003c/PRED\u003e","video":"11359519296057135756.mp4"}
+{"uid":"3996092938093414256","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack Q: immediate next step? \u003cPRED\u003eA: place the white can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table Q: immediate next step? \u003cPRED\u003eA: place the white can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the empty drinks from the rack. last 20 steps: 1- Put the glass on the table 2- Put the bottle on the table 3- Put the sprite can on the table 4- Put the tetra pack on the table 5- Put the white sparkling can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the white can on the table 2- put yellow can on the table 3- done\n\u003c/PRED\u003e","video":"6575049314143768065.mp4"}
+{"uid":"8853610205024791375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10415807156029486277.mp4"}
+{"uid":"15386447654295212928","text":"\u003ctask:success:discrete:True\u003e\nput the hind bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the hind bottle on the table\n\u003c/PRED\u003e","video":"9786591974025395882.mp4"}
+{"uid":"13824294726639897573","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the box on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13132424234873749274.mp4"}
+{"uid":"11123783113975599507","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smart food packet right side 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":"2630556652488581603.mp4"}
+{"uid":"7160328541872807397","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put adapter on the table 2- drop the adapter in a table 3- Pick up the spiral notebook 4- drop the book on a table 5- drooping the book on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put adapter on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put adapter on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put adapter on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: Put adapter on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut adapter on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut adapter on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6700956142107655205.mp4"}
+{"uid":"15835118626210538534","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":"18174307525913289823.mp4"}
+{"uid":"11939807273076648147","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- drop the black object on the table 3- sliding the book on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"11384361343677992843.mp4"}
+{"uid":"13218784374615964949","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm 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":"14599464296228661747.mp4"}
+{"uid":"5926752881691588795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15346822218486728.mp4"}
+{"uid":"6247013364974279899","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":"9160724226898801726.mp4"}
+{"uid":"10938348636207484220","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the box on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor Q: immediate next step? \u003cPRED\u003eA: pick up the box on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: pick up the box on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the box on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the box on the floor 2- pick up the black object on the floor 3- drop the black object on the table 4- sliding the book on the table 5- done\n\u003c/PRED\u003e","video":"11930871292634925297.mp4"}
+{"uid":"12174695938472543001","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: sliding the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nsliding the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor 9- pick up the black object on the floor 10- drop the black object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- sliding the book on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: sliding the book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: sliding the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nsliding the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor 9- pick up the black object on the floor 10- drop the black object on the table Q: immediate next step? \u003cPRED\u003eA: sliding the book on the table\n\u003c/PRED\u003e","video":"15722663815681361150.mp4"}
+{"uid":"452051278858757249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes  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":"16900288053764289792.mp4"}
+{"uid":"17899961999690300461","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drooping the book on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: drooping the book on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table Q: immediate next step? \u003cPRED\u003eA: drooping the book on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrooping the book on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drooping the book on a table 2- pick up the box on the floor 3- pick up the box on the floor 4- pick up the black object on the floor 5- drop the black object on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drooping the book on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrooping the book on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2188969775648216558.mp4"}
+{"uid":"2663571701768614415","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table Q: immediate next step? \u003cPRED\u003eA: pick up the book on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the book 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: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the book on the floor 2- drop the book on a table 3- drooping the book on a table 4- pick up the box on the floor 5- pick up the box on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the book on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the book on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: pick up the book on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the book on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15017290275510069799.mp4"}
+{"uid":"7224428923593362093","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the book on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the book on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the book on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: drop the book on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook Q: immediate next step? \u003cPRED\u003eA: drop the book on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook Q: next 5 steps? \u003cPRED\u003eA: 1- drop the book on a table 2- drooping the book on a table 3- pick up the box on the floor 4- pick up the box on the floor 5- pick up the black object on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the book on a table\n\u003c/PRED\u003e","video":"9753659135795291311.mp4"}
+{"uid":"3445553211877925314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16350793696699871414.mp4"}
+{"uid":"17476565723581570399","text":"\u003ctask:success:discrete:False\u003e\ndrop the adapter in a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- drop the adapter in a table 2- drop the adapter in a table 3- Pick up the spiral notebook 4- drop the book on a table 5- drooping the book on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: drop the adapter in a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the adapter in a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the adapter in a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the adapter in a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor Q: immediate next step? \u003cPRED\u003eA: drop the adapter in a table\n\u003c/PRED\u003e","video":"11544205913614196936.mp4"}
+{"uid":"18322832656777299710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1735799584256049553.mp4"}
+{"uid":"15815798291424152350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a brown packet into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15181788907187193041.mp4"}
+{"uid":"10333563236296229153","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue box on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue box on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue box on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: Put the blue box on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue box on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue box on table 2- drop the black object on the table 3- sliding the book on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table Q: immediate next step? \u003cPRED\u003eA: Put the blue box on table\n\u003c/PRED\u003e","video":"13693603846691107269.mp4"}
+{"uid":"1448173602580152438","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black object on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor 9- pick up the black object on the floor Q: immediate next step? \u003cPRED\u003eA: drop the black object on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor 9- pick up the black object on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black object on the table 2- sliding the book on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black object 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: drop the black object on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: drop the black object on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16419571584277147751.mp4"}
+{"uid":"1241388549291071278","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take notebook to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook Q: immediate next step? \u003cPRED\u003eA: Take notebook to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: Take notebook to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake notebook to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take notebook to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook Q: next 5 steps? \u003cPRED\u003eA: 1- Take notebook to the table 2- drooping the book on a table 3- pick up the box on the floor 4- pick up the box on the floor 5- pick up the black object on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake notebook to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1822211208863029563.mp4"}
+{"uid":"7990831238819005856","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the book on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the book on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5483897724483612860.mp4"}
+{"uid":"2665367721942570493","text":"\u003ctask:success:discrete:True\u003e\nPut the black adapter on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black adapter on table\n\u003c/PRED\u003e","video":"14225509562384319788.mp4"}
+{"uid":"6423176984128099123","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4151609212876292531.mp4"}
+{"uid":"4347869082525061478","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor 9- pick up the black object on the floor 10- drop the black object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Shift the notebook to center of table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor 9- pick up the black object on the floor 10- drop the black object on the table Q: immediate next step? \u003cPRED\u003eA: Shift the notebook to center of table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Shift the notebook to center of table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: Shift the notebook to center of table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nShift the notebook to center of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nShift the notebook to center of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Shift the notebook to center of table\n\u003c/PRED\u003e","video":"12913306288122175807.mp4"}
+{"uid":"5927588538766809997","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Shift the notebook to center of table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nShift the notebook to center of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor 9- pick up the black object on the floor 10- drop the black object on the table 11- Shift the notebook to center of table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor 9- pick up the black object on the floor 10- drop the black object on the table 11- Shift the notebook to center of table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5271254402814381445.mp4"}
+{"uid":"7480442960698953882","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the adapter on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the adapter 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":"4149413293765080599.mp4"}
+{"uid":"3135143044596546642","text":"\u003ctask:success:discrete:False\u003e\nPut the black adapter on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the black adapter on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black adapter on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black adapter on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: Put the black adapter on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black adapter on table 2- drop the book on a table 3- drooping the book on a table 4- pick up the box on the floor 5- pick up the box on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black adapter on table\n\u003c/PRED\u003e","video":"11288030541371963408.mp4"}
+{"uid":"2494010156725441506","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table Q: immediate next step? \u003cPRED\u003eA: Put the box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: Put the box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box on the table 2- pick up the black object on the floor 3- drop the black object on the table 4- sliding the book on the table 5- done\n\u003c/PRED\u003e","video":"6965414186672240379.mp4"}
+{"uid":"2753747131705737844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a blue pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2748688214424504352.mp4"}
+{"uid":"6881588730952193002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the Trousers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8064401582916553245.mp4"}
+{"uid":"18119080745831430597","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put adapter on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the adapter in a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: drop the adapter in a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut adapter on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the adapter in a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the adapter in a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the adapter in a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the adapter in a table 2- Pick up the spiral notebook 3- drop the book on a table 4- drooping the book on a table 5- pick up the box on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table Q: immediate next step? \u003cPRED\u003eA: drop the adapter in a table\n\u003c/PRED\u003e","video":"8366006185216069749.mp4"}
+{"uid":"13668456398099104642","text":"\u003ctask:success:discrete:True\u003e\nPick up the spiral notebook Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the spiral notebook\n\u003c/PRED\u003e","video":"14172996076772628965.mp4"}
+{"uid":"9720989714927352043","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tong Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5203268771190125757.mp4"}
+{"uid":"13650036903267383710","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drooping the book on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrooping the book on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16186100087144817882.mp4"}
+{"uid":"5842442099322947780","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the black object on the floor 2- drop the black object on the table 3- sliding the book on the table 4- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: pick up the black object on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the black object on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the black object on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the black 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor Q: immediate next step? \u003cPRED\u003eA: pick up the black object on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the black 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","video":"8913745242600497594.mp4"}
+{"uid":"13044076489985927300","text":"\u003ctask:success:discrete:True\u003e\nsliding the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor 9- pick up the black object on the floor 10- drop the black object on the table 11- sliding the book on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: sliding the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor 9- pick up the black object on the floor 10- drop the black object on the table 11- sliding the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1115656039527933704.mp4"}
+{"uid":"1383845206410163642","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: Put the blue object on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue object on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue object on table 2- sliding the book on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor Q: immediate next step? \u003cPRED\u003eA: Put the blue object on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sticky note into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue object on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue object on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue object on table\n\u003c/PRED\u003e","video":"16634216524725815486.mp4"}
+{"uid":"2156128794995427855","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the black object on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the black 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":"3690587606973409828.mp4"}
+{"uid":"9005225137830085098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack coffee cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8214633073022155826.mp4"}
+{"uid":"9512319135475357587","text":"\u003ctask:success:discrete:True\u003e\nPut the blue object on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue object on table\n\u003c/PRED\u003e","video":"13415434776119359325.mp4"}
+{"uid":"8135836848138865828","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the bottom right pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4424965445350377121.mp4"}
+{"uid":"17246965184503438731","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6745717392008365610.mp4"}
+{"uid":"9900323786813320362","text":"\u003ctask:success:discrete:True\u003e\npick up the box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the box on the floor\n\u003c/PRED\u003e","video":"12461832642549363838.mp4"}
+{"uid":"10521807727921470654","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor 9- pick up the black object on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- sliding the book on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table 7- pick up the box on the floor 8- pick up the box on the floor 9- pick up the black object on the floor Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"9757967180054365163.mp4"}
+{"uid":"1020230961750031135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the objects on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7568724485124469512.mp4"}
+{"uid":"16998350539869116142","text":"\u003ctask:success:discrete:True\u003e\npick up the book on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the book on the floor\n\u003c/PRED\u003e","video":"4434693021646971093.mp4"}
+{"uid":"15540211953990553983","text":"\u003ctask:success:discrete:True\u003e\nPut the blue box on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue box on table\n\u003c/PRED\u003e","video":"16076419723109166071.mp4"}
+{"uid":"4090913913488992391","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the spiral notebook Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table Q: immediate next step? \u003cPRED\u003eA: Pick up the spiral notebook\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: Pick up the spiral notebook\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the spiral notebook Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the spiral notebook\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the spiral notebook 2- drop the book on a table 3- drooping the book on a table 4- pick up the box on the floor 5- pick up the box on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the spiral notebook\n\u003c/PRED\u003e","video":"11786696010171934968.mp4"}
+{"uid":"9927734722066099280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2139380819302094727.mp4"}
+{"uid":"15768657074652412614","text":"\u003ctask:success:discrete:True\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"11554846946271326804.mp4"}
+{"uid":"16796529409351882866","text":"\u003ctask:success:discrete:True\u003e\ndrop the black object on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the black object on the table\n\u003c/PRED\u003e","video":"11793069035134009310.mp4"}
+{"uid":"2915490701159610443","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the box on the floor 2- pick up the box on the floor 3- pick up the black object on the floor 4- drop the black object on the table 5- sliding the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the box on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the box on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. Q: immediate next step? \u003cPRED\u003eA: pick up the box on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the notebook, empty box, charger, and eraser from the floor and place it on the desk. last 20 steps: 1- pick up the adapter on the floor 2- drop the adapter in a table 3- drop the adapter in a table 4- Pick up the spiral notebook 5- drop the book on a table 6- drooping the book on a table Q: immediate next step? \u003cPRED\u003eA: pick up the box on the floor\n\u003c/PRED\u003e","video":"724024932321335102.mp4"}
+{"uid":"931918936015797478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"9595761985219037817.mp4"}
+{"uid":"15961880263039928861","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11885590042682919785.mp4"}
+{"uid":"4784971077667692418","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the candy 5- place the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7082616259136809606.mp4"}
+{"uid":"16827739059565118620","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the table 2- place the candy on the candy 3- place the candy on the candy 4- place the candy on the candy 5- place the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e","video":"18282167621846382885.mp4"}
+{"uid":"13351588611313346507","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep fruit in plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4761022694606267252.mp4"}
+{"uid":"2768331068507434413","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3458397656980882637.mp4"}
+{"uid":"16268067011635369660","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the white popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16253351916140545414.mp4"}
+{"uid":"4680011812873662307","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"594008640228963029.mp4"}
+{"uid":"9072194143831633814","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table\n\u003c/PRED\u003e","video":"7816242604466055146.mp4"}
+{"uid":"3409745876620455757","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper cup in the garbage 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":"10463479026937035713.mp4"}
+{"uid":"4227237244266618244","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place white popcorn packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e","video":"12292055607535017362.mp4"}
+{"uid":"1178038241027073220","text":"\u003ctask:success:discrete:True\u003e\nplace the white popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e","video":"331605258377594616.mp4"}
+{"uid":"14401363432800993594","text":"\u003ctask:success:discrete:True\u003e\nplace the candy on the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 candy on the candy\n\u003c/PRED\u003e","video":"16227141432187068435.mp4"}
+{"uid":"3546932881091969774","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place white popcorn packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e","video":"9442066158547924674.mp4"}
+{"uid":"12618038421653888038","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11394966634290720046.mp4"}
+{"uid":"776412669481660375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2517384918533655331.mp4"}
+{"uid":"2227796486969421333","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1353727521266570969.mp4"}
+{"uid":"18417109748144924769","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- place the packet into the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e","video":"12896970858815839048.mp4"}
+{"uid":"11747143973277278014","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white popcorn packet in the tray 2- place the packet into the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13458956488619502219.mp4"}
+{"uid":"11178534105415623483","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy 10- place the candy on the candy 11- place the candy on the candy 12- place the candy on the candy 13- place the candy on the candy 14- place the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the candy 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy 10- place the candy on the candy 11- place the candy on the candy 12- place the candy on the candy 13- place the candy on the candy 14- place the candy on the candy Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6302702044466694054.mp4"}
+{"uid":"3898631842809641701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5615028969359002634.mp4"}
+{"uid":"9275874375911855080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8899062327077697820.mp4"}
+{"uid":"6789267271506871901","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the tray 2- place the packet into the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e","video":"9277839575494224183.mp4"}
+{"uid":"8123700595310723845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10504730785113997194.mp4"}
+{"uid":"14076100081503830140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards 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":"10091377938418095491.mp4"}
+{"uid":"11448395691287949103","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white popcorn packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e","video":"14372167407784424526.mp4"}
+{"uid":"12260868863911281333","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the basket forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13380815817824518978.mp4"}
+{"uid":"15971028548437126497","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white popcorn packet in the tray 2- place the packet into the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1758395364886986990.mp4"}
+{"uid":"6459347815720260074","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":"6442432557176519689.mp4"}
+{"uid":"15367374724646740861","text":"\u003ctask:success:discrete:True\u003e\nplace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray 6- place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray 6- place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e","video":"10400469250649195797.mp4"}
+{"uid":"6381424143458734934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8175145857857867293.mp4"}
+{"uid":"14509645270651424495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown kettle 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":"17017572172925739085.mp4"}
+{"uid":"10628642752852605008","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":"4472496085175612448.mp4"}
+{"uid":"2652120916613440099","text":"\u003ctask:success:discrete:False\u003e\nplace the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15438629764728710941.mp4"}
+{"uid":"14259849342035196935","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy 10- place the candy on the candy 11- place the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the candy 2- place the candy on the candy 3- place the candy on the candy 4- place the candy on the candy 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy 10- place the candy on the candy 11- place the candy on the candy Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8620596963304263970.mp4"}
+{"uid":"14780056249833153639","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10829872972346518390.mp4"}
+{"uid":"9803859379686760582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fruit in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14250216623714454522.mp4"}
+{"uid":"14949697735970705689","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9131512618729849378.mp4"}
+{"uid":"9708799830970742369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange cookie on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9121178040705176093.mp4"}
+{"uid":"13772241500170750162","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy 10- place the candy on the candy 11- place the candy on the candy 12- place the candy on the candy 13- place the candy on the candy Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy 10- place the candy on the candy 11- place the candy on the candy 12- place the candy on the candy 13- place the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the candy 2- place the candy on the candy 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6620429870807197369.mp4"}
+{"uid":"17588338500141301229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8673197600366435514.mp4"}
+{"uid":"12774657732922999307","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the candy 2- place the candy on the candy 3- place the candy on the candy 4- place the candy on the candy 5- place the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e","video":"4809444965797418579.mp4"}
+{"uid":"6211205526022229803","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the tray 2- place the packet into the tray 3- place the packet into the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e","video":"2147869589621615578.mp4"}
+{"uid":"3363065686070460492","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy 10- place the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the candy 2- place the candy on the candy 3- place the candy on the candy 4- place the candy on the candy 5- place the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy 10- place the candy on the candy Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e","video":"15924826155820170223.mp4"}
+{"uid":"11914483701104402915","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6342649637319725156.mp4"}
+{"uid":"3623839751704039274","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place white popcorn packet in the tray 2- place the packet into the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e","video":"17335990401772373858.mp4"}
+{"uid":"15323816938317569525","text":"\u003ctask:success:discrete:False\u003e\nPlace white popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e","video":"11886937073866797938.mp4"}
+{"uid":"13292676037376016253","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray 6- Place white popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray 6- Place white popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace white popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2479849599670655765.mp4"}
+{"uid":"13907502153559284158","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy 10- place the candy on the candy 11- place the candy on the candy 12- place the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the candy 2- place the candy on the candy 3- place the candy on the candy 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy 10- place the candy on the candy 11- place the candy on the candy 12- place the candy on the candy Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e","video":"8797451195746137430.mp4"}
+{"uid":"8520757212208593399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brown belt 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":"8255090145534609055.mp4"}
+{"uid":"1188598251926386175","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray 6- place the white popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the white popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray 6- place the white popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"18286384190444994754.mp4"}
+{"uid":"1672976374852071398","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the candy 4- place the candy on the candy 5- place the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e","video":"8828559467877146702.mp4"}
+{"uid":"12465818085312080073","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table\n\u003c/PRED\u003e","video":"13729289523833652084.mp4"}
+{"uid":"14469150132192346464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange chocolate in white  tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5390412095342514543.mp4"}
+{"uid":"6103996671331947179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12627088776547652615.mp4"}
+{"uid":"3014434130324996143","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace white popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1365265418894310609.mp4"}
+{"uid":"10441054880012823675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sticky notes into the glass 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":"10019929223675361716.mp4"}
+{"uid":"6249784719491175764","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place white popcorn packet in the tray 2- place the packet into the tray 3- place the packet into the tray 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e","video":"9949352105514203348.mp4"}
+{"uid":"4751881371086736341","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the tray 2- place the packet into the tray 3- place the packet into the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e","video":"11954579789286746804.mp4"}
+{"uid":"2342234067808288739","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14516302219429753989.mp4"}
+{"uid":"6878896079295651193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups on the top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1430133602529822597.mp4"}
+{"uid":"8061668046228249148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the green plastic glass 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":"16268556130220978117.mp4"}
+{"uid":"1371201283725762669","text":"\u003ctask:success:discrete:True\u003e\nplace the candy on the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 candy on the candy\n\u003c/PRED\u003e","video":"14364412834352316745.mp4"}
+{"uid":"6956469948753406863","text":"\u003ctask:success:discrete:True\u003e\nplace the candy on the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy 10- place the candy on the candy 11- place the candy on the candy 12- place the candy on the candy 13- place the candy on the candy 14- place the candy on the candy 15- place the candy on the candy Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table 9- place the candy on the candy 10- place the candy on the candy 11- place the candy on the candy 12- place the candy on the candy 13- place the candy on the candy 14- place the candy on the candy 15- place the candy on the candy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e","video":"4176347673131041637.mp4"}
+{"uid":"14515020117671359572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet  in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8914494180991023794.mp4"}
+{"uid":"5747140184807973849","text":"\u003ctask:success:discrete:True\u003e\nPlace white popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e","video":"18153854719032659302.mp4"}
+{"uid":"5073976686787461720","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace white popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- place the packet into the tray 5- done\n\u003c/PRED\u003e","video":"2221172872837400508.mp4"}
+{"uid":"17540298769273892282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"75994263829653426.mp4"}
+{"uid":"8924041954324322430","text":"\u003ctask:success:discrete:True\u003e\nplace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e","video":"17650117199878208221.mp4"}
+{"uid":"15053457957693631378","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white popcorn packet in the tray 2- place the packet into the tray 3- Place white popcorn packet in the tray 4- place the packet into the tray 5- place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12249301501106705548.mp4"}
+{"uid":"1998539560447210900","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6801211702830665270.mp4"}
+{"uid":"17384676276753741932","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":"9890327843747598575.mp4"}
+{"uid":"10132589296060258822","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8521264700119546976.mp4"}
+{"uid":"14174466959880680519","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray 5- place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e","video":"16743133670283007605.mp4"}
+{"uid":"14179874959791773679","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e","video":"7950317484816901804.mp4"}
+{"uid":"15069283711207900408","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the candy 2- place the candy on the candy 3- place the candy on the candy 4- place the candy on the candy 5- place the candy on the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. last 20 steps: 1- place the candy on the table 2- place the candy on the table 3- place the candy on the table 4- place the candy on the table 5- place the candy on the table 6- place the candy on the table 7- place the candy on the table 8- place the candy on the table Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove red unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: place the candy on the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy on the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1192741578038350249.mp4"}
+{"uid":"10797978938123629772","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: 1- Place white popcorn packet in the tray 2- Place white popcorn packet in the tray 3- place the packet into the tray 4- Place white popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place white popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace white popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11073018341344796772.mp4"}
+{"uid":"14264874942892027035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp an orange snack pack 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":"9623166973452711237.mp4"}
+{"uid":"4485051841788582346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12247691291865641862.mp4"}
+{"uid":"11771348485303598779","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: testing42 Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: testing42. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the tray 2- place the packet into the tray 3- Place white popcorn packet in the tray 4- place the packet into the tray 5- place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e","video":"12568200973532130494.mp4"}
+{"uid":"12141850677520619959","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black colour chocolate 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":"16721746226106010491.mp4"}
+{"uid":"1782679866095376061","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork inside the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8126778689133841197.mp4"}
+{"uid":"12956619182757398405","text":"\u003ctask:success:discrete:True\u003e\npick up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e","video":"514805334349828274.mp4"}
+{"uid":"16483361741472851751","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- throw the cup in the dustbin 2- drop the white packet in the jar 3- drop the packet in the jar 4- put the packet on the jar 5- drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin Q: immediate next step? \u003cPRED\u003eA: throw the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: throw the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the cup in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the cup in the dustbin\n\u003c/PRED\u003e","video":"3341048432475907840.mp4"}
+{"uid":"12144670356613263754","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- drop the packet in the jar 3- put the packet on the jar 4- drop the packet in the jar 5- drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11590743152173245054.mp4"}
+{"uid":"3173904756333414522","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- put the packet on the jar 3- drop the packet in the jar 4- drop the packet in the jar 5- drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e","video":"16447124185652916901.mp4"}
+{"uid":"1799404090926277861","text":"\u003ctask:success:discrete:True\u003e\ndrop the paper cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the paper cup in the dustbin\n\u003c/PRED\u003e","video":"2183670747061509429.mp4"}
+{"uid":"4849637398563045793","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown crushed paper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the brown crushed paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4490421920082073575.mp4"}
+{"uid":"18171039655566533205","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in the jar 2- put the packet on the jar 3- drop the packet in the jar 4- drop the packet in the jar 5- drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2881826333452329443.mp4"}
+{"uid":"6395182445737944977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15350525369589379570.mp4"}
+{"uid":"8340545054835931901","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10803978854299850155.mp4"}
+{"uid":"1917810083585990858","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- drop the packet in the jar 3- drop the packet in the jar 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e","video":"7027853480992750274.mp4"}
+{"uid":"12890857050424613928","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8368723665254165635.mp4"}
+{"uid":"2803335539090995520","text":"\u003ctask:success:discrete:True\u003e\nthrow the cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the cup in the dustbin\n\u003c/PRED\u003e","video":"1430599123581002297.mp4"}
+{"uid":"8763673834254913897","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: drop the brown crushed paper in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown crushed paper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown crushed paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown crushed paper in the dustbin 2- pick up the cup 3- drop the cup in the dustbin 4- drop the white packet in the jar 5- drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown crushed paper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown crushed paper in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin Q: immediate next step? \u003cPRED\u003eA: drop the brown crushed paper in the dustbin\n\u003c/PRED\u003e","video":"14560356550170071492.mp4"}
+{"uid":"5396224771774963279","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- done\n\u003c/PRED\u003e","video":"14140937196888453269.mp4"}
+{"uid":"10944818236933651556","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- put the packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- put the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2473903547583754145.mp4"}
+{"uid":"16255721160149795816","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the small blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- drop the packet in the jar 11- put the small blue packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the small blue packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- drop the packet in the jar 11- put the small blue packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12989605769942919269.mp4"}
+{"uid":"6765855353638825320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7154425490192482542.mp4"}
+{"uid":"7034589031004129206","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white packet in the jar 2- drop the packet in the jar 3- put the packet on the jar 4- drop the packet in the jar 5- drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin Q: immediate next step? \u003cPRED\u003eA: drop the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: drop the white packet in the jar\n\u003c/PRED\u003e","video":"3444154935697121958.mp4"}
+{"uid":"3991116712095795216","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- drop the packet in the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e","video":"12019752198946501867.mp4"}
+{"uid":"13235730742619099557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"12147020550347446817.mp4"}
+{"uid":"17964589109118881800","text":"\u003ctask:success:discrete:True\u003e\ndrop the cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cup in the dustbin\n\u003c/PRED\u003e","video":"3005987696114813512.mp4"}
+{"uid":"18188345634703663493","text":"\u003ctask:success:discrete:True\u003e\ndrop the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the white packet in the jar\n\u003c/PRED\u003e","video":"10773097847146765706.mp4"}
+{"uid":"10062806799392489131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  pens 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":"15211877058443899576.mp4"}
+{"uid":"6548735310605431646","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: drop the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper Q: immediate next step? \u003cPRED\u003eA: drop the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper in the dustbin 2- pick up the cup 3- drop the cup in the dustbin 4- drop the white packet in the jar 5- drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"884037122045645314.mp4"}
+{"uid":"1473213595405215373","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet on the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the jar 2- drop the packet in the jar 3- drop the packet in the jar 4- drop the packet in the jar 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the packet on the jar\n\u003c/PRED\u003e","video":"3814246009430900971.mp4"}
+{"uid":"10420836071016581447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17918385829120474793.mp4"}
+{"uid":"7431006113964002868","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2642197060791051074.mp4"}
+{"uid":"12976642776378122453","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8844241842906529377.mp4"}
+{"uid":"1072438073135296706","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- drop the packet in the jar 11- drop the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- drop the packet in the jar 11- drop the packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"120939557271727116.mp4"}
+{"uid":"9297146678725439501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1300633026886471010.mp4"}
+{"uid":"6488986601223153975","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the small blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- drop the packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the small blue packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the small blue packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the small blue packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- drop the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the small blue packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the small blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the small blue packet in the jar\n\u003c/PRED\u003e","video":"5455691109395567411.mp4"}
+{"uid":"792975360818604912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a white 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":"14552818516903384045.mp4"}
+{"uid":"16141550863345814432","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6380370877834026068.mp4"}
+{"uid":"17844369612233788548","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the paper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin Q: immediate next step? \u003cPRED\u003eA: throw the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- throw the paper in the dustbin 2- pick up the cup 3- drop the cup in the dustbin 4- drop the white packet in the jar 5- drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: throw the paper in the dustbin\n\u003c/PRED\u003e","video":"2985094382860292572.mp4"}
+{"uid":"15480732057935158133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove glass forwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"749584125131073872.mp4"}
+{"uid":"8572867230528849813","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar Q: immediate next step? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in the jar 2- drop the packet in the jar 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16002821913726436273.mp4"}
+{"uid":"5115032829008672731","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13368305311637614476.mp4"}
+{"uid":"11972651500018056229","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5285411266127627333.mp4"}
+{"uid":"1732605922281884418","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on 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":"13394074707282731841.mp4"}
+{"uid":"10062921634307810620","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9087075486069000910.mp4"}
+{"uid":"7077695713085675633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6618528968967876637.mp4"}
+{"uid":"2976054501804064068","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- drop the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the smaller packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the smaller packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the smaller packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the smaller packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- drop the packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the smaller packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the smaller packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the smaller packet in the jar\n\u003c/PRED\u003e","video":"10233814988741026400.mp4"}
+{"uid":"8356555421790933963","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3290093175079558835.mp4"}
+{"uid":"13959162403712225486","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cup in the dustbin 2- drop the white packet in the jar 3- drop the packet in the jar 4- put the packet on the jar 5- drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: drop the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cup in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup Q: immediate next step? \u003cPRED\u003eA: drop the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cup in the dustbin\n\u003c/PRED\u003e","video":"13703586753514413060.mp4"}
+{"uid":"11207160489864801773","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup Q: immediate next step? \u003cPRED\u003eA: open gripper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen gripper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 gripper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open gripper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- open gripper 2- drop the white packet in the jar 3- drop the packet in the jar 4- put the packet on the jar 5- drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: open gripper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen gripper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11113875050291340266.mp4"}
+{"uid":"7975030793383294108","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- drop the packet in the jar 3- put the packet on the jar 4- drop the packet in the jar 5- drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7864333176340795511.mp4"}
+{"uid":"13927714511835140903","text":"\u003ctask:success:discrete:False\u003e\npick up the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the paper 2- drop the paper in the dustbin 3- pick up the cup 4- drop the cup in the dustbin 5- drop the white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: pick up the paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin Q: immediate next step? \u003cPRED\u003eA: pick up the paper\n\u003c/PRED\u003e","video":"11203966127539996438.mp4"}
+{"uid":"3089057961009700412","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- drop the packet in the jar Q: immediate next step? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- drop the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in the jar 2- done\n\u003c/PRED\u003e","video":"6969021746533301200.mp4"}
+{"uid":"913203570255949654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3504001268040827982.mp4"}
+{"uid":"8037149865338844327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10996968046325340923.mp4"}
+{"uid":"12319160394036701774","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: drop the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper cup in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin Q: immediate next step? \u003cPRED\u003eA: drop the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper cup in the dustbin 2- drop the white packet in the jar 3- drop the packet in the jar 4- put the packet on the jar 5- drop the packet in the jar\n\u003c/PRED\u003e","video":"7606945133534312819.mp4"}
+{"uid":"11122737730544701317","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- drop the packet in the jar 11- put the smaller packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the smaller packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar 9- drop the packet in the jar 10- drop the packet in the jar 11- put the smaller packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the smaller packet in the jar\n\u003c/PRED\u003e","video":"5201778909107453821.mp4"}
+{"uid":"13479612359236689999","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the paper cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15161290282500333547.mp4"}
+{"uid":"7682577782832469994","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15219206040399813407.mp4"}
+{"uid":"1923381895882574551","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the cup in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: throw the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: throw the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- throw the cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18445235183286564078.mp4"}
+{"uid":"6539603288275421924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the coffee cup lids on the existing stack in the glass 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":"9286701457320472415.mp4"}
+{"uid":"14524429425326310906","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4311970139918317184.mp4"}
+{"uid":"5188931382218113927","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e","video":"2525396300689139643.mp4"}
+{"uid":"13695222935082091024","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar Q: immediate next step? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar 7- drop the packet in the jar 8- put the packet on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in the jar 2- drop the packet in the jar 3- drop the packet in the jar 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e","video":"4736166271749646851.mp4"}
+{"uid":"8536027299700839827","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18416120491637118975.mp4"}
+{"uid":"1610335946815917745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a smartfood 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":"10441583859701532941.mp4"}
+{"uid":"13501407238634801378","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4177774911295793704.mp4"}
+{"uid":"4798630001558158998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"1276063811526606340.mp4"}
+{"uid":"2064926652669213943","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from table and place it in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16559023517922607521.mp4"}
+{"uid":"10024401310988735160","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in the jar\n\u003c/PRED\u003e","video":"14370535138906840359.mp4"}
+{"uid":"16161461327916161773","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin 6- drop the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- put the packet on the jar 3- drop the packet in the jar 4- drop the packet in the jar 5- drop the packet in the jar\n\u003c/PRED\u003e","video":"6776375947250757066.mp4"}
+{"uid":"10363732768129793925","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks from right bowl to top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4090572269105584219.mp4"}
+{"uid":"13039511980218840910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the mouse Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11674247098527064743.mp4"}
+{"uid":"17352474561700040189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15103802135170199506.mp4"}
+{"uid":"13437591804203385030","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange into a large 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":"4174102568913056289.mp4"}
+{"uid":"9294631490739165263","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1050401268952182326.mp4"}
+{"uid":"7002789371519001205","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper cup in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: drop the paper cup in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin 4- pick up the cup 5- drop the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper cup in the dustbin\n\u003c/PRED\u003e","video":"855684943130479689.mp4"}
+{"uid":"1519165379392755107","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- drop the paper cup in the dustbin 2- pick up the paper 3- drop the paper in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cup 2- drop the cup in the dustbin 3- drop the white packet in the jar 4- drop the packet in the jar 5- put the packet on the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6536877331856390700.mp4"}
+{"uid":"12446361699294504259","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":"4606625663278512558.mp4"}
+{"uid":"3705449993624731478","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the jar 2- flip the name tag 3- arrange the spoon holder 4- arrange the spoon holder in sequence 5- arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: arrange the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag Q: immediate next step? \u003cPRED\u003eA: arrange the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4263537963706287043.mp4"}
+{"uid":"17338097044333676463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sugar packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14717033894101818982.mp4"}
+{"uid":"14255005750846610937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the coffee cup lids in the glass 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":"269236425189693819.mp4"}
+{"uid":"11183027304176945062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12550274882638240342.mp4"}
+{"uid":"12041877504628635510","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the name plate facing forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the name plate facing 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":"5627348989281345330.mp4"}
+{"uid":"15303815167119074128","text":"\u003ctask:success:discrete:False\u003e\ndrag the glass holder 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag Q: immediate next step? \u003cPRED\u003eA: drag the glass holder upward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drag the glass holder upward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag Q: next 5 steps? \u003cPRED\u003eA: 1- drag the glass holder upward 2- arrange the spoon holder in sequence 3- arrange the spoon holder in sequence 4- drag the bottle on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrag the glass holder 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:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: drag the glass holder upward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drag the glass holder upward\n\u003c/PRED\u003e","video":"16067480942336531772.mp4"}
+{"uid":"3080505451140366538","text":"\u003ctask:success:discrete:True\u003e\narrange the spoon holder in sequence Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the spoon holder in sequence\n\u003c/PRED\u003e","video":"919559671352611510.mp4"}
+{"uid":"16666621255556420703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10393693891774303403.mp4"}
+{"uid":"4281312371397269867","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the cloth\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the cloth Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the cloth\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the cloth\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean Q: immediate next step? \u003cPRED\u003eA: Pick up the cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 use the rag on the table to wipe the whiteboard clean. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the cloth 2- done\n\u003c/PRED\u003e","video":"8562564693017179105.mp4"}
+{"uid":"5794753323466353564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper at 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":"2261597138041368610.mp4"}
+{"uid":"9060045112598781392","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward Q: immediate next step? \u003cPRED\u003eA: push the orange bowl forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the orange bowl forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: push the orange bowl forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the orange bowl 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:success:discrete:True\u003e\nplace the name tag facing forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward Q: next 5 steps? \u003cPRED\u003eA: 1- push the orange bowl forward 2- place the name tag facing forward 3- push the jar forward 4- flip the name tag 5- push the jar forward\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the orange bowl forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the orange bowl forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3479926832265201004.mp4"}
+{"uid":"7986155590086972349","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward Q: immediate next step? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the name tag facing forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward Q: next 5 steps? \u003cPRED\u003eA: 1- place the name tag facing forward 2- push the orange bowl forward 3- place the name tag facing forward 4- push the jar forward 5- flip the name tag\n\u003c/PRED\u003e","video":"2256835574709391677.mp4"}
+{"uid":"12559253472817611590","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the jar forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: push the jar forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the jar 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag Q: immediate next step? \u003cPRED\u003eA: push the jar forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag Q: next 5 steps? \u003cPRED\u003eA: 1- push the jar forward 2- flip the name tag 3- arrange the spoon holder 4- arrange the spoon holder in sequence 5- arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the jar forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the jar forward\n\u003c/PRED\u003e","video":"15323676289715601343.mp4"}
+{"uid":"10167679798148221309","text":"\u003ctask:success:discrete:False\u003e\nmove arm Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward Q: immediate next step? \u003cPRED\u003eA: move arm\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: move arm\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move arm\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward Q: next 5 steps? \u003cPRED\u003eA: 1- move arm 2- arrange the spoon holder 3- arrange the spoon holder in sequence 4- arrange the spoon holder in sequence 5- drag the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move arm\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7093974993552087137.mp4"}
+{"uid":"6325508234753040427","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: arrange the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the jar 2- push the jar forward 3- flip the name tag 4- arrange the spoon holder 5- arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward Q: immediate next step? \u003cPRED\u003eA: arrange the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11243672836705432101.mp4"}
+{"uid":"8588714698340731252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bowl in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8721276385657882633.mp4"}
+{"uid":"8060583454016915742","text":"\u003ctask:success:discrete:True\u003e\nhold the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hold the duster\n\u003c/PRED\u003e","video":"14287521475922245090.mp4"}
+{"uid":"13499913104210230968","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the spoon holder 2- arrange the spoon holder in sequence 3- arrange the spoon holder in sequence 4- drag the bottle on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag Q: immediate next step? \u003cPRED\u003eA: arrange the spoon holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the spoon holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the spoon holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the spoon 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: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: arrange the spoon holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the spoon 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":"14213141606874622610.mp4"}
+{"uid":"1043030051627382190","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17944490303957654803.mp4"}
+{"uid":"7487569365434701431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12684556940616800989.mp4"}
+{"uid":"7354282271485991117","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black cloth 2- take the duster near the board 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean Q: immediate next step? \u003cPRED\u003eA: pick the black cloth\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black cloth Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cloth\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the black cloth\n\u003c/PRED\u003e","video":"10586840074021781143.mp4"}
+{"uid":"14719257464694188573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow marker in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10113708132780708292.mp4"}
+{"uid":"13793603305527124648","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean. last 20 steps: 1- hold the duster 2- move arm towards white board Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove arm towards white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 use the rag on the table to wipe the whiteboard clean Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move arm towards white board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean. last 20 steps: 1- hold the duster 2- move arm towards white board Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18014288711886889334.mp4"}
+{"uid":"16507673700404139745","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the name plate facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the name plate facing 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: Place the name plate facing forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the name plate facing forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the name plate facing 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: Place the name plate facing forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: Place the name plate facing forward\n\u003c/PRED\u003e","video":"10531470412855889737.mp4"}
+{"uid":"12832560409943582128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 3 black pens in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7495740296609680040.mp4"}
+{"uid":"14370859782636441844","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the name plate facing 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: Place the name plate facing forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward Q: immediate next step? \u003cPRED\u003eA: Place the name plate facing forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the name plate facing forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward Q: next 5 steps? \u003cPRED\u003eA: 1- Place the name plate facing forward 2- push the orange bowl forward 3- place the name tag facing forward 4- push the jar forward 5- flip the name tag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: Place the name plate facing forward\n\u003c/PRED\u003e","video":"14183850105710154293.mp4"}
+{"uid":"12929163103037098648","text":"\u003ctask:success:discrete:True\u003e\narrange the spoon 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: arrange the spoon holder\n\u003c/PRED\u003e","video":"13251379842675400551.mp4"}
+{"uid":"4860666498660438138","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag 9- arrange the spoon holder 10- arrange the spoon holder in sequence Q: immediate next step? \u003cPRED\u003eA: arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the spoon holder in sequence Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the spoon holder in sequence Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag 9- arrange the spoon holder 10- arrange the spoon holder in sequence Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the spoon holder in sequence 2- drag the bottle on the table 3- done\n\u003c/PRED\u003e","video":"4563966758555637513.mp4"}
+{"uid":"17499833096115738609","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11374393816720620042.mp4"}
+{"uid":"8440840262882845664","text":"\u003ctask:success:discrete:True\u003e\npush the orange bowl forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the orange bowl forward\n\u003c/PRED\u003e","video":"7301289481762837901.mp4"}
+{"uid":"2385458969958336617","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag 9- arrange the spoon holder 10- arrange the spoon holder in sequence Q: immediate next step? \u003cPRED\u003eA: drag the glass holder upward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: drag the glass holder upward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrag the glass holder 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: drag the glass holder upward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrag the glass holder 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag 9- arrange the spoon holder 10- arrange the spoon holder in sequence Q: next 5 steps? \u003cPRED\u003eA: 1- drag the glass holder upward 2- drag the bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drag the glass holder upward\n\u003c/PRED\u003e","video":"9674820699716731101.mp4"}
+{"uid":"12841252048906399690","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the name tag facing 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":"12138757841268099984.mp4"}
+{"uid":"435504657557662435","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the brush from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13863890918419777576.mp4"}
+{"uid":"937996303786173338","text":"\u003ctask:success:discrete:True\u003e\npush the jar forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nflip the name tag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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: flip the name tag\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the jar forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward Q: immediate next step? \u003cPRED\u003eA: flip the name tag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward Q: next 5 steps? \u003cPRED\u003eA: 1- flip the name tag 2- push the jar forward 3- flip the name tag 4- arrange the spoon holder 5- arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: flip the name tag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: flip the name tag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nflip the name tag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2628188070576462292.mp4"}
+{"uid":"9002624045335631404","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: flip the name tag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: flip the name tag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward Q: next 5 steps? \u003cPRED\u003eA: 1- flip the name tag 2- flip the name tag 3- arrange the spoon holder 4- arrange the spoon holder in sequence 5- arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nflip the name tag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\nflip the name tag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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: flip the name tag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward Q: immediate next step? \u003cPRED\u003eA: flip the name tag\n\u003c/PRED\u003e","video":"14369122732980130859.mp4"}
+{"uid":"16780505666509972808","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward Q: next 5 steps? \u003cPRED\u003eA: 1- push the jar forward 2- flip the name tag 3- push the jar forward 4- flip the name tag 5- arrange the spoon holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the jar forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward Q: immediate next step? \u003cPRED\u003eA: push the jar forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: push the jar forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the name tag facing forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the jar forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the jar forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the jar 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":"12881234581618793510.mp4"}
+{"uid":"647676657457561312","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":"7605247702057024174.mp4"}
+{"uid":"7765929357489241936","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the spoon holder in sequence Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag 9- arrange the spoon holder Q: immediate next step? \u003cPRED\u003eA: arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: arrange the spoon holder in sequence\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag 9- arrange the spoon holder Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the spoon holder in sequence 2- arrange the spoon holder in sequence 3- drag the bottle on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the spoon holder in sequence Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9698160532194805570.mp4"}
+{"uid":"11790856762853908149","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward Q: immediate next step? \u003cPRED\u003eA: flip the name tag\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the jar forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nflip the name tag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: flip the name tag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: flip the name tag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the jar forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward Q: next 5 steps? \u003cPRED\u003eA: 1- flip the name tag 2- arrange the spoon holder 3- arrange the spoon holder in sequence 4- arrange the spoon holder in sequence 5- drag the bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: flip the name tag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nflip the name tag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"855197046959227036.mp4"}
+{"uid":"12853171221717654032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tea box in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7852473227952157444.mp4"}
+{"uid":"14208309923527797798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the rold gold packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18155062654359591773.mp4"}
+{"uid":"5439806910713861261","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean. last 20 steps: 1- hold the duster Q: immediate next step? \u003cPRED\u003eA: take the duster near the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean. last 20 steps: 1- hold the duster Q: next 5 steps? \u003cPRED\u003eA: 1- take the duster near the board 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the duster near the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take the duster near the board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake the duster near the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 use the rag on the table to wipe the whiteboard clean Q: immediate next step? \u003cPRED\u003eA: take the duster near the board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take the duster near the board\n\u003c/PRED\u003e","video":"13671327548790485537.mp4"}
+{"uid":"8173120021035284352","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the orange bowl 2- place the name tag facing forward 3- push the jar forward 4- flip the name tag 5- push the jar forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: arrange the orange bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the orange 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: arrange the orange bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the orange bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward Q: immediate next step? \u003cPRED\u003eA: arrange the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the orange 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":"8062947847210870212.mp4"}
+{"uid":"8773496800101572602","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: flip the name tag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nflip the name tag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17747771722340720550.mp4"}
+{"uid":"15101479668637288008","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":"14420665045592984192.mp4"}
+{"uid":"13657802032041352313","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the orange bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the orange 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":"1582394291264780212.mp4"}
+{"uid":"5376733092727245567","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":"14827624155317591732.mp4"}
+{"uid":"1111591985279835069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3400088519855634616.mp4"}
+{"uid":"4208880736479537146","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":"10526398086937634156.mp4"}
+{"uid":"4008141507460018111","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean Q: immediate next step? \u003cPRED\u003eA: move arm towards white board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove arm towards white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 use the rag on the table to wipe the whiteboard clean. last 20 steps: 1- hold the duster Q: immediate next step? \u003cPRED\u003eA: move arm towards white board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move arm towards white board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean. last 20 steps: 1- hold the duster Q: next 5 steps? \u003cPRED\u003eA: 1- move arm towards white board 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move arm towards white board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove arm towards white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10128601021169652289.mp4"}
+{"uid":"1677446153535967213","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the name tag facing forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the name tag facing forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward Q: immediate next step? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward Q: next 5 steps? \u003cPRED\u003eA: 1- place the name tag facing forward 2- push the jar forward 3- flip the name tag 4- push the jar forward 5- flip the name tag\n\u003c/PRED\u003e","video":"14538972252794714756.mp4"}
+{"uid":"1448451199351697747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the green packet properly 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":"10350414774368431604.mp4"}
+{"uid":"1444354864036532858","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean. last 20 steps: 1- hold the duster 2- take the duster near the board Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntake the duster near the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 use the rag on the table to wipe the whiteboard clean. last 20 steps: 1- hold the duster 2- take the duster near the board Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take the duster near the board\n\u003c/PRED\u003e","video":"6326455794545886821.mp4"}
+{"uid":"831374173493047100","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drag the glass holder upward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drag the glass holder upward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrag the glass holder 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag 9- arrange the spoon holder Q: immediate next step? \u003cPRED\u003eA: drag the glass holder upward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: drag the glass holder upward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrag the glass holder 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: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag 9- arrange the spoon holder Q: next 5 steps? \u003cPRED\u003eA: 1- drag the glass holder upward 2- arrange the spoon holder in sequence 3- drag the bottle on the table 4- done\n\u003c/PRED\u003e","video":"5285156718696574194.mp4"}
+{"uid":"10516339834673613032","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag 9- arrange the spoon holder 10- arrange the spoon holder in sequence 11- arrange the spoon holder in sequence 12- drag the bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag 9- arrange the spoon holder 10- arrange the spoon holder in sequence 11- arrange the spoon holder in sequence 12- drag the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drag the bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrag the bottle 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":"4274464350167301405.mp4"}
+{"uid":"15212834671395110670","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14043742712373214843.mp4"}
+{"uid":"15762930226582117382","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the cloth\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean. last 20 steps: 1- Pick up the cloth Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please use the rag on the table to wipe the whiteboard clean. last 20 steps: 1- Pick up the cloth Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13857319260718177494.mp4"}
+{"uid":"16537883737297614821","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13586323512891310365.mp4"}
+{"uid":"4344274857263304720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace strawberry hint water bottle 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":"827442051827415051.mp4"}
+{"uid":"1290313560834378796","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the name tag facing 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":"14048589724933981025.mp4"}
+{"uid":"2217228470377298924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue marker in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17515115220496795645.mp4"}
+{"uid":"7292186970383385730","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16518970990793353780.mp4"}
+{"uid":"9470293435089603289","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":"526267794058280820.mp4"}
+{"uid":"11363603253362818619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green 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":"11287515141822513164.mp4"}
+{"uid":"5149386258825578110","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14450495263795549740.mp4"}
+{"uid":"6484001993229698847","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":"7568845317534293759.mp4"}
+{"uid":"14919910628736698988","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward Q: immediate next step? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the name tag facing 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:success:discrete:False\u003e\nplace the name tag facing 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward Q: next 5 steps? \u003cPRED\u003eA: 1- place the name tag facing forward 2- push the jar forward 3- flip the name tag 4- push the jar forward 5- flip the name tag\n\u003c/PRED\u003e","video":"6618645936046794394.mp4"}
+{"uid":"6312091378001692749","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the name tag facing forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the name tag facing 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: place the name tag facing forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: place the name tag facing forward\n\u003c/PRED\u003e","video":"13283681561877174649.mp4"}
+{"uid":"340225931036487591","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrag the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag 9- arrange the spoon holder 10- arrange the spoon holder in sequence 11- arrange the spoon holder in sequence Q: immediate next step? \u003cPRED\u003eA: drag the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform Q: immediate next step? \u003cPRED\u003eA: drag the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tidy up the mk table by straightening out the fruit labels, lining up the utensil holders and straightening the honey bottle platform. last 20 steps: 1- place the name tag facing forward 2- place the name tag facing forward 3- push the orange bowl forward 4- place the name tag facing forward 5- push the jar forward 6- flip the name tag 7- push the jar forward 8- flip the name tag 9- arrange the spoon holder 10- arrange the spoon holder in sequence 11- arrange the spoon holder in sequence Q: next 5 steps? \u003cPRED\u003eA: 1- drag the bottle on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrag the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drag the bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drag the bottle on the table\n\u003c/PRED\u003e","video":"1418325724991614496.mp4"}
+{"uid":"7006625066280420471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green 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":"17025588589748304297.mp4"}
+{"uid":"4045441846885919289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green sachets 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":"395359465599410994.mp4"}
+{"uid":"10001871161093810843","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut brown packet in the oraganiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2334177315207161374.mp4"}
+{"uid":"15106714973203404341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the potted plant in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"321391044788569896.mp4"}
+{"uid":"12921090050924064601","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16300263807808970284.mp4"}
+{"uid":"8609218512791211405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"287841821273161586.mp4"}
+{"uid":"2505587230776909833","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3094834362220524740.mp4"}
+{"uid":"17109928909549883303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5515999607738473969.mp4"}
+{"uid":"9502493894666340118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5128928538360556352.mp4"}
+{"uid":"8287749654074012570","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon in a bowl 2- drop the spoon in a bowl 3- drop the spoon in a bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e","video":"10340082142968619347.mp4"}
+{"uid":"2607323327685484619","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":"4780882137083508113.mp4"}
+{"uid":"2554190676093698328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3446753388687837951.mp4"}
+{"uid":"6067157720943087029","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon in a bowl 2- drop the spoon in a bowl 3- drop the spoon in a bowl 4- drop the spoon in a bowl 5- done\n\u003c/PRED\u003e","video":"11823544048829790889.mp4"}
+{"uid":"13053722894154560592","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- put the spoon in the glass 3- drop the spoon in a bowl 4- drop the spoon in a bowl 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"365540207099472848.mp4"}
+{"uid":"4676710123411989379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17683731941040176028.mp4"}
+{"uid":"3164485004866329797","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device 3- write on the screen 4- write on the screen Q: immediate next step? \u003cPRED\u003eA: Lock the screen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLock the screen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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: Lock the screen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLock the screen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Lock the screen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. Q: immediate next step? \u003cPRED\u003eA: Lock the screen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device 3- write on the screen 4- write on the screen Q: next 5 steps? \u003cPRED\u003eA: 1- Lock the screen 2- done\n\u003c/PRED\u003e","video":"18106509106009004660.mp4"}
+{"uid":"8300025845983544428","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pipcorn packet on last table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pipcorn packet on last 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":"7289584029747288524.mp4"}
+{"uid":"14960562531680998332","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the browser window\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the browser window Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14468104137566895243.mp4"}
+{"uid":"14879265604099417264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packets in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink colour sketch in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2875100132473507795.mp4"}
+{"uid":"224128063451803545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a candy into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5672438040648418342.mp4"}
+{"uid":"10148534400339151408","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the pen 2- Operate the device 3- write on the screen 4- write on the screen 5- adjust the device\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pickup the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. Q: immediate next step? \u003cPRED\u003eA: Pickup the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the pen\n\u003c/PRED\u003e","video":"12437236587616984873.mp4"}
+{"uid":"13808004500699090036","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3442090205516446267.mp4"}
+{"uid":"13579077547380699846","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the glass 2- drop the spoon in a bowl 3- put the spoon in the glass 4- drop the spoon in a bowl 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"326730867606657905.mp4"}
+{"uid":"2266523294281817860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8208957734524067357.mp4"}
+{"uid":"4885336391327498614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2183221081367949520.mp4"}
+{"uid":"5790759840850545959","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green chip packet on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the green chip packet on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14217963399506531884.mp4"}
+{"uid":"1287347729316502642","text":"\u003ctask:success:discrete:True\u003e\ndrop the brown pip corn packet on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown pip corn packet on a table\n\u003c/PRED\u003e","video":"11204608738723844948.mp4"}
+{"uid":"14193220568262155979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\npick the brown belt from the top cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16751775522081496798.mp4"}
+{"uid":"2170703027044821307","text":"\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"1601479033547647566.mp4"}
+{"uid":"8073875513697605511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue 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":"13107086627388191765.mp4"}
+{"uid":"7255240114958258943","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue chip packet on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue chip packet on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue chip packet on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue chip packet on a table 2- drop the green chip packet on a table 3- drop the brown pip corn packet on a table 4- place the spoon in the glass 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: drop the blue chip packet on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table Q: immediate next step? \u003cPRED\u003eA: drop the blue chip packet on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue chip packet on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9207049663073536935.mp4"}
+{"uid":"909593809082670575","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen Q: next 5 steps? \u003cPRED\u003eA: 1- write on the screen 2- write on the screen 3- write on the screen 4- adjust the device 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the screen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: write on the screen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. Q: immediate next step? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwrite on the screen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen Q: immediate next step? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e","video":"12663830622664287611.mp4"}
+{"uid":"15447529386310024790","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5752622394436073425.mp4"}
+{"uid":"17046709009666002622","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the glass 2- drop the spoon in a bowl 3- drop the spoon in a bowl 4- drop the spoon in a bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11637689625610505061.mp4"}
+{"uid":"17324720955756336740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic knife 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":"6652492229283504916.mp4"}
+{"uid":"3797255362758504310","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue chip packet on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the blue chip packet on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7518282488607834300.mp4"}
+{"uid":"11534928831152134280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6023652975807885669.mp4"}
+{"uid":"523522375353533883","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9216100103163634286.mp4"}
+{"uid":"11667873093940350297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio  in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1805964419513211749.mp4"}
+{"uid":"16765092722479793765","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the device Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the stylus and draw on the touchscreen. Q: immediate next step? \u003cPRED\u003eA: adjust the device\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device 3- write on the screen 4- write on the screen Q: immediate next step? \u003cPRED\u003eA: adjust the device\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device 3- write on the screen 4- write on the screen Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the device 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the device\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the device\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the device Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5311988117259616353.mp4"}
+{"uid":"59707529431185156","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  redbull can\n 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":"107219334264334948.mp4"}
+{"uid":"15129297953702420283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput turkey stick in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10297647430168563188.mp4"}
+{"uid":"16459133157765004639","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the spoon in the glass 3- drop the spoon in a bowl 4- put the spoon in the glass 5- drop the spoon in a bowl\n\u003c/PRED\u003e","video":"11248852013645221545.mp4"}
+{"uid":"15837008264067212554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet into 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":"14730064588308139390.mp4"}
+{"uid":"6246197761189659401","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the white popcorn packet on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the white popcorn packet on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11712656212504364.mp4"}
+{"uid":"18057449062003900453","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwrite on the screen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3176707099044531544.mp4"}
+{"uid":"7729326775415916931","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- drop the green chip packet on a table 3- drop the brown pip corn packet on a table 4- place the spoon in the glass 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"17809254144112971966.mp4"}
+{"uid":"8047107095258210700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12905026273334219188.mp4"}
+{"uid":"6494602404229684948","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the glass 2- drop the spoon in a bowl 3- drop the spoon in a bowl 4- drop the spoon in a bowl 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5902920025822929205.mp4"}
+{"uid":"5032039210836797791","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the glass 2- drop the spoon in a bowl 3- drop the spoon in a bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e","video":"14024058028798281833.mp4"}
+{"uid":"573892290822783776","text":"\u003ctask:success:discrete:True\u003e\nPickup the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pickup the pen\n\u003c/PRED\u003e","video":"9818106242553679711.mp4"}
+{"uid":"11542467304129589699","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwrite on the screen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"750213707538285585.mp4"}
+{"uid":"16553473459729830006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pea 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":"14516574313608419974.mp4"}
+{"uid":"13945795723854665044","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon in a bowl 2- drop the spoon in a bowl 3- put the spoon in the glass 4- drop the spoon in a bowl 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e","video":"8993585706163125970.mp4"}
+{"uid":"8818448789090618397","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the popcorn packet first left table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the popcorn packet first left 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":"9359357481923031055.mp4"}
+{"uid":"560704525406703516","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl 12- drop the spoon in a bowl 13- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl 12- drop the spoon in a bowl 13- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"12448361716688293508.mp4"}
+{"uid":"15633799310059951527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11611541857373565188.mp4"}
+{"uid":"3600839895611334439","text":"\u003ctask:success:discrete:True\u003e\nwrite on the screen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e","video":"8808885912017189043.mp4"}
+{"uid":"4660519354353962639","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon in a bowl 2- put the spoon in the glass 3- drop the spoon in a bowl 4- drop the spoon in a bowl 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e","video":"12577134331843430659.mp4"}
+{"uid":"16123967122819671482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15371231504226048781.mp4"}
+{"uid":"14198452367981929583","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: put the pipcorn packet on last table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pipcorn packet on last table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pipcorn packet on last table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pipcorn packet on last table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pipcorn packet on last table 2- place the spoon in the glass 3- drop the spoon in a bowl 4- put the spoon in the glass 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pipcorn packet on last table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table Q: immediate next step? \u003cPRED\u003eA: put the pipcorn packet on last table\n\u003c/PRED\u003e","video":"18111546904501738145.mp4"}
+{"uid":"5106249266554120171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut second chip in a 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":"4829977275319217079.mp4"}
+{"uid":"18285291222660013871","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Clear the search bar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClear the search bar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device Q: immediate next step? \u003cPRED\u003eA: Clear the search bar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device Q: next 5 steps? \u003cPRED\u003eA: 1- Clear the search bar 2- write on the screen 3- adjust the device 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. Q: immediate next step? \u003cPRED\u003eA: Clear the search bar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClear the search bar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Clear the search bar\n\u003c/PRED\u003e","video":"3870896989917145796.mp4"}
+{"uid":"2275273808486232761","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. Q: immediate next step? \u003cPRED\u003eA: pick up pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up pen 2- Operate the device 3- write on the screen 4- write on the screen 5- adjust the device\n\u003c/PRED\u003e","video":"6420669851196517683.mp4"}
+{"uid":"11369548485604153198","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":"9988523430541017094.mp4"}
+{"uid":"3327957977502710056","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet on second right table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue packet on second right 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":"4286609121523468635.mp4"}
+{"uid":"12936960914461544930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red sachet in the row Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16299882591529466218.mp4"}
+{"uid":"16792448161600742930","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the glass 2- put the spoon in the glass 3- drop the spoon in a bowl 4- drop the spoon in a bowl 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e","video":"6527496310975441035.mp4"}
+{"uid":"17231059106198548931","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon in a bowl 2- drop the spoon in a bowl 3- drop the spoon in a bowl 4- put the spoon in the glass 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e","video":"1337637896632615593.mp4"}
+{"uid":"17049313226536975073","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: drop the green chip packet on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green chip packet on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table Q: immediate next step? \u003cPRED\u003eA: drop the green chip packet on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green chip packet on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green chip packet on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green chip packet on a table 2- drop the brown pip corn packet on a table 3- place the spoon in the glass 4- drop the spoon in a bowl 5- put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green chip packet on a table\n\u003c/PRED\u003e","video":"7899910929516883339.mp4"}
+{"uid":"13272912540427216242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pea 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":"4929672148833851140.mp4"}
+{"uid":"3125804889840111101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a Banana inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12737677287056530120.mp4"}
+{"uid":"612983533623674491","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon in a bowl 2- put the spoon in the glass 3- drop the spoon in a bowl 4- drop the spoon in a bowl 5- put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e","video":"17459419401218213945.mp4"}
+{"uid":"17673938183222014016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5892230711570716131.mp4"}
+{"uid":"12764226465100344252","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- drop the spoon in a bowl 3- drop the spoon in a bowl 4- drop the spoon in a bowl 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"12664012801348989533.mp4"}
+{"uid":"6241505242369691797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the popcorn 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":"6873776149202336978.mp4"}
+{"uid":"4408048374019336146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16442218582963844277.mp4"}
+{"uid":"12023968863578720662","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table Q: immediate next step? \u003cPRED\u003eA: put the blue packet on second right table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet on second right table 2- drop the green chip packet on a table 3- drop the brown pip corn packet on a table 4- place the spoon in the glass 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet on second right table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet on second right table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet on second right table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet on second right table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: put the blue packet on second right table\n\u003c/PRED\u003e","video":"16490154881517743255.mp4"}
+{"uid":"15080635806552970810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16071968964806934145.mp4"}
+{"uid":"16824556832748903468","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the device\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device 3- write on the screen 4- write on the screen 5- adjust the device Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nadjust the device Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the stylus and draw on the touchscreen. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device 3- write on the screen 4- write on the screen 5- adjust the device Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2547062848468586593.mp4"}
+{"uid":"2036069380644045156","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl 12- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- drop the spoon in a bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl 12- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in small 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"1072611597636312300.mp4"}
+{"uid":"7545835246289165299","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the browser window Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device 3- write on the screen Q: immediate next step? \u003cPRED\u003eA: Close the browser window\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the browser window\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device 3- write on the screen Q: next 5 steps? \u003cPRED\u003eA: 1- Close the browser window 2- adjust the device 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the browser window\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the browser window Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the stylus and draw on the touchscreen. Q: immediate next step? \u003cPRED\u003eA: Close the browser window\n\u003c/PRED\u003e","video":"4504699466469214411.mp4"}
+{"uid":"14410613067225756299","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl 12- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl 12- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon in a bowl 2- drop the spoon in a bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e","video":"17190479868434473562.mp4"}
+{"uid":"17920686454118419942","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up pen 2- Operate the device 3- write on the screen 4- write on the screen 5- adjust the device\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. Q: immediate next step? \u003cPRED\u003eA: pick up pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up pen\n\u003c/PRED\u003e","video":"12875941391359457834.mp4"}
+{"uid":"13097604617674202429","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":"11291473375624533549.mp4"}
+{"uid":"5466606641752647668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack 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":"8647542440713672493.mp4"}
+{"uid":"9553522690515505772","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown pip corn packet on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown pip corn packet on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown pip corn packet on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown pip corn packet on a table 2- place the spoon in the glass 3- drop the spoon in a bowl 4- put the spoon in the glass 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown pip corn packet on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table Q: immediate next step? \u003cPRED\u003eA: drop the brown pip corn packet on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: drop the brown pip corn packet on a table\n\u003c/PRED\u003e","video":"11699960050554311394.mp4"}
+{"uid":"14814037808293038703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11956278779443503325.mp4"}
+{"uid":"9820355447286290032","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl 12- drop the spoon in a bowl 13- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl 12- drop the spoon in a bowl 13- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the glass 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2969633618916926405.mp4"}
+{"uid":"17769568070821590816","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- drop the spoon in a bowl 3- drop the spoon in a bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"2021469840958011196.mp4"}
+{"uid":"2822164468474390978","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl 12- drop the spoon in a bowl 13- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon in a bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl 12- drop the spoon in a bowl 13- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e","video":"6296033416175473558.mp4"}
+{"uid":"3325043541680686094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet into 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":"1579121152480152642.mp4"}
+{"uid":"17829999124948805503","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the glass 2- drop the spoon in a bowl 3- put the spoon in the glass 4- drop the spoon in a bowl 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9030732924019812670.mp4"}
+{"uid":"17379273828486272406","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- drop the spoon in a bowl 3- drop the spoon in a bowl 4- drop the spoon in a bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"6753272355728124576.mp4"}
+{"uid":"1619821888032919934","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the glass 2- put the spoon in the glass 3- drop the spoon in a bowl 4- drop the spoon in a bowl 5- put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5089423299844157683.mp4"}
+{"uid":"5275787058861759320","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- drop the spoon in a bowl 3- put the spoon in the glass 4- drop the spoon in a bowl 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8950621711601745699.mp4"}
+{"uid":"17316575802590278808","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. Q: immediate next step? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device Q: immediate next step? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the screen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device Q: next 5 steps? \u003cPRED\u003eA: 1- write on the screen 2- write on the screen 3- adjust the device 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e","video":"6486575522774079795.mp4"}
+{"uid":"69012203173744495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the duster from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16128517871154650882.mp4"}
+{"uid":"9940612391400171297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon in the spoon 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":"3977200617599602508.mp4"}
+{"uid":"10409580135922187411","text":"\u003ctask:success:discrete:True\u003e\nClear the search bar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Clear the search bar\n\u003c/PRED\u003e","video":"1371793878144391515.mp4"}
+{"uid":"8284792795381888518","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon in a bowl 2- drop the spoon in a bowl 3- drop the spoon in a bowl 4- drop the spoon in a bowl 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e","video":"9016418621776808752.mp4"}
+{"uid":"12857986888304121465","text":"\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"3443957624762684618.mp4"}
+{"uid":"13549891261071133473","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- put the spoon in the glass 3- drop the spoon in a bowl 4- drop the spoon in a bowl 5- put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"16320417369958563742.mp4"}
+{"uid":"17263694888166053839","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. Q: immediate next step? \u003cPRED\u003eA: Operate the device\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOperate the device Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Operate the device\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOperate the device Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Operate the device\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen Q: immediate next step? \u003cPRED\u003eA: Operate the device\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen Q: next 5 steps? \u003cPRED\u003eA: 1- Operate the device 2- write on the screen 3- write on the screen 4- adjust the device 5- done\n\u003c/PRED\u003e","video":"2666370109792736352.mp4"}
+{"uid":"9514048844208670018","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green packet on the second left table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green packet on the second left 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":"8341016728100088105.mp4"}
+{"uid":"15916309857839499290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15433823558423125459.mp4"}
+{"uid":"2298531024967616122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15385099845393219110.mp4"}
+{"uid":"12271909703630407675","text":"\u003ctask:success:discrete:True\u003e\nput the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"13216888519266593320.mp4"}
+{"uid":"7923520385738842899","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon in a bowl 2- drop the spoon in a bowl 3- put the spoon in the glass 4- drop the spoon in a bowl 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the spoon in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table Q: immediate next step? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon in a bowl\n\u003c/PRED\u003e","video":"7253292464465960993.mp4"}
+{"uid":"12821327058432558264","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the glass 2- drop the spoon in a bowl 3- drop the spoon in a bowl 4- put the spoon in the glass 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e","video":"40125663571263070.mp4"}
+{"uid":"4049640674648243626","text":"\u003ctask:success:discrete:True\u003e\nOperate the device Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Operate the device\n\u003c/PRED\u003e","video":"15138555786262531344.mp4"}
+{"uid":"7809968494122406488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14133941550993251190.mp4"}
+{"uid":"18368343436522768971","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"9254434420420368203.mp4"}
+{"uid":"16803798492946215778","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. Q: immediate next step? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device 3- write on the screen Q: immediate next step? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write on the screen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwrite on the screen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: get the stylus and draw on the touchscreen. last 20 steps: 1- pick up pen 2- Operate the device 3- write on the screen Q: next 5 steps? \u003cPRED\u003eA: 1- write on the screen 2- adjust the device 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the screen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10957030053885500202.mp4"}
+{"uid":"2879563688456972835","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10133828020456627859.mp4"}
+{"uid":"6247307870218452149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bean 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":"13265021426522858059.mp4"}
+{"uid":"7288868850634234038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup 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":"11796868871384419222.mp4"}
+{"uid":"3596119838401636140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the laptop side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2818199391262169094.mp4"}
+{"uid":"1233078922062434733","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- drop the spoon in a bowl 3- drop the spoon in a bowl 4- put the spoon in the glass 5- drop the spoon in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"11210514923910737504.mp4"}
+{"uid":"15891809097690647934","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table Q: immediate next step? \u003cPRED\u003eA: put the green packet on the second left table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet on the second left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet on the second left table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packet on the second left table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- drop the brown pip corn packet on a table 3- place the spoon in the glass 4- drop the spoon in a bowl 5- put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet on the second left table 2- drop the brown pip corn packet on a table 3- place the spoon in the glass 4- drop the spoon in a bowl 5- put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: put the green packet on the second left table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet on the second left table\n\u003c/PRED\u003e","video":"11977467138289417313.mp4"}
+{"uid":"7269327076126726934","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- drop the spoon in a bowl 3- put the spoon in the glass 4- drop the spoon in a bowl 5- drop the spoon in a bowl\n\u003c/PRED\u003e","video":"410658763020587055.mp4"}
+{"uid":"15839716448074303067","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl 12- drop the spoon in a bowl Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the snacks to tables in MK and place untensils in the bin. last 20 steps: 1- put the popcorn packet first left table 2- drop the blue chip packet on a table 3- drop the green chip packet on a table 4- drop the brown pip corn packet on a table 5- place the spoon in the glass 6- drop the spoon in a bowl 7- put the spoon in the glass 8- drop the spoon in a bowl 9- drop the spoon in a bowl 10- put the spoon in the glass 11- drop the spoon in a bowl 12- drop the spoon in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the glass 2- drop the spoon in a bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the glass\n\u003c/PRED\u003e","video":"9224885817722249274.mp4"}
+{"uid":"17119101708358121293","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e","video":"16267118187326617838.mp4"}
+{"uid":"4948054355818303078","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand 7- put can in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand 7- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1469324591430553714.mp4"}
+{"uid":"10238822726872210598","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can 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 can in the stand\n\u003c/PRED\u003e","video":"18336391133724056564.mp4"}
+{"uid":"9926995374604903009","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can in tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10391365995206009830.mp4"}
+{"uid":"10603347295549834988","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can in tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e","video":"14727853136455424202.mp4"}
+{"uid":"4963807461737827482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10459963027305928739.mp4"}
+{"uid":"1340996322423681806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11022195316491385624.mp4"}
+{"uid":"13751543491921262331","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can in tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e","video":"5151764048618849158.mp4"}
+{"uid":"6181851194347393764","text":"\u003ctask:success:discrete:True\u003e\nput redbull can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e","video":"13030241855845186154.mp4"}
+{"uid":"4674818458574320349","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can 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":"7116546850860634862.mp4"}
+{"uid":"4474901494681324327","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can in tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e","video":"15733062235355732512.mp4"}
+{"uid":"14331411149599041022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake out the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14421819871288545114.mp4"}
+{"uid":"17300091824536038850","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can 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":"7898842117899376692.mp4"}
+{"uid":"8619444640865450497","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":"14411463548526544840.mp4"}
+{"uid":"9874310538823921063","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"6769123119125891412.mp4"}
+{"uid":"13061164793081687307","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"18140701405163024680.mp4"}
+{"uid":"14274180430866653196","text":"\u003ctask:success:discrete:False\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- put can in the stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"18054158905125020803.mp4"}
+{"uid":"7637777234166294352","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can in tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e","video":"18381084853365693676.mp4"}
+{"uid":"11247698057160389652","text":"\u003ctask:success:discrete:True\u003e\nput can 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 can in the stand\n\u003c/PRED\u003e","video":"15194107495897140419.mp4"}
+{"uid":"17582523974203393473","text":"\u003ctask:success:discrete:True\u003e\nput can 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 can in the stand\n\u003c/PRED\u003e","video":"16259491082188942674.mp4"}
+{"uid":"11595268809319582019","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- done\n\u003c/PRED\u003e","video":"11072030716059692574.mp4"}
+{"uid":"13672858690981602983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8329859300156486450.mp4"}
+{"uid":"10757969958567095711","text":"\u003ctask:success:discrete:True\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand 7- put can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand 7- put can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"12332448090770722782.mp4"}
+{"uid":"7863669004909314500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11137666047487768709.mp4"}
+{"uid":"6285656161483975598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink 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":"16538943823488458546.mp4"}
+{"uid":"8231867511439344802","text":"\u003ctask:success:discrete:True\u003e\nput redbull can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand 7- put redbull can in tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand 6- put can in the stand 7- put redbull can in tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9402454799226835608.mp4"}
+{"uid":"8522609005856516645","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e","video":"2721550405749892964.mp4"}
+{"uid":"12688313223660680108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2057674896994508110.mp4"}
+{"uid":"15355000842243115161","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"10051690118395257266.mp4"}
+{"uid":"10099857857530646069","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can 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 can in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can 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":"10605519466110057819.mp4"}
+{"uid":"13611485386127781148","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can 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 put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- done\n\u003c/PRED\u003e","video":"13111044451791324719.mp4"}
+{"uid":"5688557514161393637","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the tray 2- put can in the stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5722376122013648583.mp4"}
+{"uid":"8186877876852183999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2618563012449681662.mp4"}
+{"uid":"10389865270919765792","text":"\u003ctask:success:discrete:True\u003e\nput redbull can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e","video":"6811438556370353053.mp4"}
+{"uid":"6662038844077898016","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can 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":"15515443846598451799.mp4"}
+{"uid":"9113427220788613472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tiles in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12638631993008310733.mp4"}
+{"uid":"3542778933385803732","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10674286183090210852.mp4"}
+{"uid":"3319351013482368089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16753711622828024691.mp4"}
+{"uid":"4467493242636495154","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"11063718844134955196.mp4"}
+{"uid":"18262964829465685339","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can in tray 2- put can in the stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1668247645540043694.mp4"}
+{"uid":"248241920737430009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the 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":"12480548188691782711.mp4"}
+{"uid":"5679172842179395346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple inside the container box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2964210297035282571.mp4"}
+{"uid":"9683712348509679392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12523161190157277356.mp4"}
+{"uid":"6162632578054558490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow pouch in the top left partition of the kit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15088684979461190704.mp4"}
+{"uid":"1852756399189436452","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can 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 put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"2675343296292730365.mp4"}
+{"uid":"5571217870730602036","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9911668260514610303.mp4"}
+{"uid":"9228193251794840243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15844297333953455338.mp4"}
+{"uid":"7495277160688695304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the rhombus shape object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4778824002356952278.mp4"}
+{"uid":"3540743734540437472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the platform Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15054260779119931500.mp4"}
+{"uid":"18405658803039400564","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can 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 put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can in the stand\n\u003c/PRED\u003e","video":"10526053175852444690.mp4"}
+{"uid":"14038656939752461853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tissue in 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":"17432764937502521382.mp4"}
+{"uid":"10918628125989676048","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5551646815622789563.mp4"}
+{"uid":"12947033629565823463","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can in tray 2- put can in the stand 3- put can in the stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the red bull back into the tray. last 20 steps: 1- put can in the stand 2- put can in the stand 3- put can in the stand 4- put can in the stand Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the red bull back into the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13701414955143981212.mp4"}
+{"uid":"15752649564733122090","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8807924674544749076.mp4"}
+{"uid":"3208829204730624106","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet in the tray 2- place pipcorn packet in the tray 3- place pipcorn packet in the tray 4- done\n\u003c/PRED\u003e","video":"4387314627338966022.mp4"}
+{"uid":"12874337417216749529","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2683615009394696640.mp4"}
+{"uid":"16519747556309683235","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray\n\u003c/PRED\u003e","video":"9566525630523661715.mp4"}
+{"uid":"4933459517457484084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the glasses in the glass stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14884395761144132851.mp4"}
+{"uid":"6763910931588200263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the potted plant on the right side of 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":"12012718019414188165.mp4"}
+{"uid":"18291122523819103444","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5699831471643863585.mp4"}
+{"uid":"769835232127567306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the green highlighter 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":"12635498681986958495.mp4"}
+{"uid":"1575150496468131424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3372412769049745433.mp4"}
+{"uid":"729349915137991266","text":"\u003ctask:success:discrete:True\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray 8- place pipcorn packet in the tray 9- place pipcorn packet in the tray 10- place pipcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray 8- place pipcorn packet in the tray 9- place pipcorn packet in the tray 10- place pipcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7308277951915740669.mp4"}
+{"uid":"12377640644904503168","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place orange packet in the tray 3- place pipcorn packet in the tray 4- place pipcorn packet in the tray 5- place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"2522459448985741206.mp4"}
+{"uid":"4861159731440876938","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":"1499801693996904012.mp4"}
+{"uid":"3363761116857447114","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"17580861554813122118.mp4"}
+{"uid":"1172297729169399082","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray 8- place pipcorn packet in the tray 9- place pipcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray 8- place pipcorn packet in the tray 9- place pipcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e","video":"2962880750956275006.mp4"}
+{"uid":"15088211661683999551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow packet at left corner Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6759856730990492833.mp4"}
+{"uid":"1187652746657046565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14671571377734928080.mp4"}
+{"uid":"6786774859712811982","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place pipcorn packet in the tray 3- place pipcorn packet in the tray 4- place pipcorn packet in the tray 5- place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"1741207550087667257.mp4"}
+{"uid":"18081340463806178559","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place pipcorn packet in the tray 5- place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"6321345815440616156.mp4"}
+{"uid":"17048292631698731960","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet in the tray 2- place pipcorn packet in the tray 3- place pipcorn packet in the tray 4- place pipcorn packet in the tray 5- place pipcorn packet in the tray\n\u003c/PRED\u003e","video":"10633114018595864155.mp4"}
+{"uid":"10214516361934019286","text":"\u003ctask:success:discrete:True\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray 8- place pipcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet in the tray 2- place pipcorn packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray 8- place pipcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8752648835182236261.mp4"}
+{"uid":"13555889994248298817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bottle upright 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":"6443843064891814385.mp4"}
+{"uid":"3109156101623575324","text":"\u003ctask:success:discrete:True\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the snacks into the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the snacks into the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet in the tray 2- place pipcorn packet in the tray 3- place pipcorn packet in the tray 4- place pipcorn packet in the tray 5- done\n\u003c/PRED\u003e","video":"18418329464400510304.mp4"}
+{"uid":"9259437122041270920","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16259222556448614963.mp4"}
+{"uid":"16674346129191965620","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer Q: immediate next step? \u003cPRED\u003eA: place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow packet in yellow packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow packet in yellow packet section in organizer 2- place two white packet in white packet section in organizer 3- place white packet in white packet section in organizer 4- done\n\u003c/PRED\u003e","video":"16724713814895219766.mp4"}
+{"uid":"12025574458409709809","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown sugar packet inside the organizer 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: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser Q: immediate next step? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown sugar packet inside the organizer box 2- place green packet in green packet section in organizer 3- place green packet in green packet section in organizer 4- put pink clolour packet in the gorganiser 5- put 3 pink colour packets in the organiser\n\u003c/PRED\u003e","video":"447039791274946188.mp4"}
+{"uid":"4100393177658090879","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place four pink packet in pink packet section in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace four pink packet in pink packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7443161908973143056.mp4"}
+{"uid":"16993483663372303339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the existing glass stack 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":"10579849602167526489.mp4"}
+{"uid":"18430759393431912751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the 4 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":"14062367478459941759.mp4"}
+{"uid":"11345176409906693544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10236457647920422927.mp4"}
+{"uid":"486528510328272529","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a green packet inside the organizer 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put a green packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a green packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a green packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put a green packet inside the organizer box 2- put pink clolour packet in the gorganiser 3- put 3 pink colour packets in the organiser 4- place yellow packet in yellow packet section in organizer 5- put cream colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser Q: immediate next step? \u003cPRED\u003eA: put a green packet inside the organizer box\n\u003c/PRED\u003e","video":"5686843856783779830.mp4"}
+{"uid":"4905380352037186195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11428808706682900734.mp4"}
+{"uid":"2130500751977886975","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put 2 white colour packets in the organiser 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 2 white colour packets in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 2 white colour packets in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put 2 white colour packets in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 2 white colour packets in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 2 white colour packets in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser Q: immediate next step? \u003cPRED\u003eA: put 2 white colour packets in the organiser\n\u003c/PRED\u003e","video":"4434106788330981586.mp4"}
+{"uid":"10562435449914086151","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":"9164159811016993015.mp4"}
+{"uid":"11825964465638041996","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- Adjust the can 6- place the can in the tray 7- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- Adjust the can 6- place the can in the tray 7- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"16027386766555142379.mp4"}
+{"uid":"8876816377396187193","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a green packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put a green packet inside the organizer box 2- put 3 pink colour packets in the organiser 3- place yellow packet in yellow packet section in organizer 4- put cream colour packet in the organiser 5- place two white packet in white packet section in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a green packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a green packet inside the organizer 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put a green packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer Q: immediate next step? \u003cPRED\u003eA: put a green packet inside the organizer box\n\u003c/PRED\u003e","video":"4764685250901119752.mp4"}
+{"uid":"1369869486228030017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the coffee 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":"17047472489875716402.mp4"}
+{"uid":"5319283558324971998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the hot pink plate on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11187509605560321763.mp4"}
+{"uid":"2721667813668833055","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green packet in green packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8373784326059915822.mp4"}
+{"uid":"3254882028755875772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the error Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18318357645812957961.mp4"}
+{"uid":"14789254446980771654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11473482866733707047.mp4"}
+{"uid":"2868829711528523917","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- Adjust the can 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"9780460773909225473.mp4"}
+{"uid":"7223037312700550834","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5606700178074306751.mp4"}
+{"uid":"12191443093041405277","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- place two white packet in white packet section in organizer Q: immediate next step? \u003cPRED\u003eA: put a white packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put a white packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a white packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a white packet inside the organizer 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: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- place two white packet in white packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put a white packet inside the organizer box 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a white packet inside the organizer 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: put a white packet inside the organizer box\n\u003c/PRED\u003e","video":"3632216868989221339.mp4"}
+{"uid":"14017584961979383324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can 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":"3855435516248205121.mp4"}
+{"uid":"3314187424799252216","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown candy 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":"10036320574831385913.mp4"}
+{"uid":"14508083465074038084","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- Adjust the can 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- Adjust the can 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray 9- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5718287141637168620.mp4"}
+{"uid":"11261930699243236748","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- Adjust the can Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- Adjust the can Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"4384072805668812505.mp4"}
+{"uid":"8989744304601880538","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put 2 white colour packets in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 2 white colour packets in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- put 2 white colour packets in the organiser Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- put 2 white colour packets in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8838940961620171092.mp4"}
+{"uid":"3461463459184128666","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- Adjust the can 6- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- Adjust the can 6- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7590762879411605354.mp4"}
+{"uid":"10546602676672589763","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace brown packet in brown packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16802349805764445619.mp4"}
+{"uid":"4074967528423190801","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"6837403677974617748.mp4"}
+{"uid":"9888940367179188087","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e","video":"13250051018077298860.mp4"}
+{"uid":"16549004338234474062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14303163033676925204.mp4"}
+{"uid":"11721546507530312908","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace brown packet in brown packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4649825680430884480.mp4"}
+{"uid":"13220174371593254796","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cream colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the cream colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser Q: immediate next step? \u003cPRED\u003eA: put the cream colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cream colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cream colour packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cream colour packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put the cream colour packet in the organiser 2- put cream colour packet in the organiser 3- place two white packet in white packet section in organizer 4- place white packet in white packet section in organizer 5- done\n\u003c/PRED\u003e","video":"1009491231733020899.mp4"}
+{"uid":"955422913761999914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12385423662485060117.mp4"}
+{"uid":"14909359688393586029","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown sugar packet inside the organizer box 2- place the brown packet in the organiser 3- place brown packet in brown packet section in organizer 4- put the green packet in the organiser 5- place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a brown sugar packet inside the organizer 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: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown sugar packet inside the organizer 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e","video":"809577388708723332.mp4"}
+{"uid":"6082004753514605291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9344355979428857121.mp4"}
+{"uid":"7439079793258287509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp 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":"994693142170019498.mp4"}
+{"uid":"5403972544807956512","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- place two white packet in white packet section in organizer 13- place white packet in white packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white packet in white packet section in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace white packet in white packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- place two white packet in white packet section in organizer 13- place white packet in white packet section in organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16576102959476150269.mp4"}
+{"uid":"15896936776454670313","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- pick up tissue Q: immediate next step? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- pick up tissue Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on the table 2- clean the table 3- move laptop to the forward 4- clean the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer Q: immediate next step? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9163024583991019308.mp4"}
+{"uid":"9120642433646476792","text":"\u003ctask:success:discrete:False\u003e\nplace green packet in green packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green packet in green packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place green packet in green packet section in organizer 2- place green packet in green packet section in organizer 3- put pink clolour packet in the gorganiser 4- put 3 pink colour packets in the organiser 5- place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer Q: immediate next step? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e","video":"2895347181625629984.mp4"}
+{"uid":"2530714399455190201","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser Q: immediate next step? \u003cPRED\u003eA: put the green packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet in the organiser 2- place green packet in green packet section in organizer 3- put pink clolour packet in the gorganiser 4- put 3 pink colour packets in the organiser 5- place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the green packet in the organiser\n\u003c/PRED\u003e","video":"17799571170376190029.mp4"}
+{"uid":"17520571039967265059","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer Q: immediate next step? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place green packet in green packet section in organizer 2- place green packet in green packet section in organizer 3- put pink clolour packet in the gorganiser 4- put 3 pink colour packets in the organiser 5- place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green packet in green packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16814934624046423733.mp4"}
+{"uid":"7994049361862289501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black and yellow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7876775047824261232.mp4"}
+{"uid":"14242940589500181747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the paper bowl in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18330862630831894003.mp4"}
+{"uid":"1186307825145940553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlift the black 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":"9776947858294868729.mp4"}
+{"uid":"17873326913913904985","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16955818010169004868.mp4"}
+{"uid":"1985589982129381338","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 3 pink packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put 3 pink packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 3 pink packet inside the organizer 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\nput 3 pink packet inside the organizer 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: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser Q: immediate next step? \u003cPRED\u003eA: put 3 pink packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser Q: next 5 steps? \u003cPRED\u003eA: 1- put 3 pink packet inside the organizer box 2- put cream colour packet in the organiser 3- place two white packet in white packet section in organizer 4- place white packet in white packet section in organizer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 3 pink packet inside the organizer box\n\u003c/PRED\u003e","video":"8769476515445129535.mp4"}
+{"uid":"12971232357507938013","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- place two white packet in white packet section in organizer Q: immediate next step? \u003cPRED\u003eA: put the white colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the white colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- place two white packet in white packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white colour packet in the organiser 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white colour packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white colour packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white colour packet in the organiser\n\u003c/PRED\u003e","video":"18389810293306791542.mp4"}
+{"uid":"6586363124493993767","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet in the organiser 2- place brown packet in brown packet section in organizer 3- put the green packet in the organiser 4- place green packet in green packet section in organizer 5- place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e","video":"4404815254523901807.mp4"}
+{"uid":"7367773105665055549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14050495366471610985.mp4"}
+{"uid":"782923618964123050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move close to 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":"756066243505449613.mp4"}
+{"uid":"2894018306780002328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon on brown 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":"13004474032782346179.mp4"}
+{"uid":"18234482156050842485","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace yellow packet in yellow packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5763307690846394743.mp4"}
+{"uid":"5499037562990352642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the orange 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":"124973132174508440.mp4"}
+{"uid":"16327457842084735538","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11623331126891315698.mp4"}
+{"uid":"6676595702455174750","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- pick up tissue 2- put tissue on the table 3- clean the table 4- move laptop to the forward Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- pick up tissue 2- put tissue on the table 3- clean the table 4- move laptop to the forward Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6831948287666818663.mp4"}
+{"uid":"9909340341781084459","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser Q: immediate next step? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown sugar packet inside the organizer 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: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown sugar packet inside the organizer box 2- place brown packet in brown packet section in organizer 3- put the green packet in the organiser 4- place green packet in green packet section in organizer 5- place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e","video":"4586669462331478275.mp4"}
+{"uid":"3590265278612003814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace numi 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":"4803097675765936265.mp4"}
+{"uid":"12229719837446928608","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Adjust the can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Adjust the can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the can 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: Adjust the can\n\u003c/PRED\u003e","video":"2305490191451978557.mp4"}
+{"uid":"16855378201416994060","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a green packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a green packet inside the organizer 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":"12864192502785161943.mp4"}
+{"uid":"16678261053252254704","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in brown packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brown packet in brown packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in brown packet section in organizer 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser\n\u003c/PRED\u003e","video":"16880728930644072756.mp4"}
+{"uid":"13866458936768443264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13898771216581056803.mp4"}
+{"uid":"10949714111131813938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13463365297377094777.mp4"}
+{"uid":"6016391456739516269","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green packet in green packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10047287508567354879.mp4"}
+{"uid":"10998746817690532829","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser Q: next 5 steps? \u003cPRED\u003eA: 1- put 3 pink colour packets in the organiser 2- place yellow packet in yellow packet section in organizer 3- put cream colour packet in the organiser 4- place two white packet in white packet section in organizer 5- place white packet in white packet section in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 3 pink colour packets in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 3 pink colour packets in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 3 pink colour packets in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put 3 pink colour packets in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser Q: immediate next step? \u003cPRED\u003eA: put 3 pink colour packets in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 3 pink colour packets in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14270500291472733998.mp4"}
+{"uid":"3291275507976380574","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- place two white packet in white packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white packet in white packet section in organizer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packet in white packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packet in white packet section in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packet in white packet section in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace white packet in white packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place white packet in white packet section in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- place two white packet in white packet section in organizer Q: immediate next step? \u003cPRED\u003eA: place white packet in white packet section in organizer\n\u003c/PRED\u003e","video":"5340552733865580503.mp4"}
+{"uid":"16559653737952019722","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":"1813826204346531265.mp4"}
+{"uid":"4478029668161284462","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9526390349156167330.mp4"}
+{"uid":"17068772992450090288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1147994900416137000.mp4"}
+{"uid":"4821907773334164516","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the brown packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10276713676388997670.mp4"}
+{"uid":"17703952959204840291","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink packet in pink packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink packet in pink packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink packet in pink packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer Q: immediate next step? \u003cPRED\u003eA: place pink packet in pink packet section in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink packet in pink packet section in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink packet in pink packet section in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink packet in pink packet section in organizer 2- put 3 pink colour packets in the organiser 3- place yellow packet in yellow packet section in organizer 4- put cream colour packet in the organiser 5- place two white packet in white packet section in organizer\n\u003c/PRED\u003e","video":"7569835821301285077.mp4"}
+{"uid":"637205558334976639","text":"\u003ctask:success:discrete:True\u003e\nplace pink packet in pink packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink packet in pink packet section in organizer\n\u003c/PRED\u003e","video":"350162464948688156.mp4"}
+{"uid":"1597761311176289562","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- Adjust the can 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e","video":"6401798899617321149.mp4"}
+{"uid":"8274075600708865165","text":"\u003ctask:success:discrete:True\u003e\nplace yellow packet in yellow packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e","video":"3407249278948550528.mp4"}
+{"uid":"13431150998391560260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the papers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12897510595267934083.mp4"}
+{"uid":"6584561649979302670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the plastic in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9405220120974423149.mp4"}
+{"uid":"10118407347704370806","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place green packet in green packet section in organizer 2- put pink clolour packet in the gorganiser 3- put 3 pink colour packets in the organiser 4- place yellow packet in yellow packet section in organizer 5- put cream colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer Q: immediate next step? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green packet in green packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e","video":"6601254308571266593.mp4"}
+{"uid":"13727056702383398306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow packet in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5556915250502812286.mp4"}
+{"uid":"12124203157495992755","text":"\u003ctask:success:discrete:True\u003e\nplace brown packet in brown packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e","video":"10523591735983066101.mp4"}
+{"uid":"10588037734829480895","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- pick up tissue 2- put tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table 2- move laptop to the forward 3- clean the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- pick up tissue 2- put tissue on the table Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e","video":"1712030382682403174.mp4"}
+{"uid":"18017671748835830009","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move laptop to the forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove laptop to the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- pick up tissue 2- put tissue on the table 3- clean the table Q: immediate next step? \u003cPRED\u003eA: move laptop to the forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove laptop to the forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer Q: immediate next step? \u003cPRED\u003eA: move laptop to the forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- pick up tissue 2- put tissue on the table 3- clean the table Q: next 5 steps? \u003cPRED\u003eA: 1- move laptop to the forward 2- clean the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move laptop to the forward\n\u003c/PRED\u003e","video":"15943552739240610930.mp4"}
+{"uid":"15423262096577663478","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":"9476630385699741496.mp4"}
+{"uid":"10976435881751937974","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- Adjust the can\n\u003c/PRED\u003e","video":"7846194108063087720.mp4"}
+{"uid":"17073725841529803164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black wire in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16351702167330137605.mp4"}
+{"uid":"15250817942042033384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2275063696024515019.mp4"}
+{"uid":"18369181990455950922","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- Adjust the can 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- Adjust the can 6- place the can in the tray 7- place the can in the tray 8- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"13791076702316721092.mp4"}
+{"uid":"6012065444593225853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6286408716872511731.mp4"}
+{"uid":"12134508519745774318","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser Q: immediate next step? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in brown packet section in organizer 2- place brown packet in brown packet section in organizer 3- put the green packet in the organiser 4- place green packet in green packet section in organizer 5- place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in brown packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e","video":"2796143277562792200.mp4"}
+{"uid":"8322123749449305185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5265745116823709121.mp4"}
+{"uid":"10473972112255355761","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put 3 pink colour packets in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 3 pink colour packets in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13656869374801850897.mp4"}
+{"uid":"12057366207445614117","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"5001305242467111519.mp4"}
+{"uid":"1610948124021995533","text":"\u003ctask:success:discrete:True\u003e\nput the green packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green packet in the organiser\n\u003c/PRED\u003e","video":"1869103284527951860.mp4"}
+{"uid":"10140030157714949023","text":"\u003ctask:success:discrete:True\u003e\nplace the brown packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e","video":"12744456478404628524.mp4"}
+{"uid":"323113694567345435","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in brown packet section in organizer 2- place brown packet in brown packet section in organizer 3- put the green packet in the organiser 4- place green packet in green packet section in organizer 5- place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in brown packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser Q: immediate next step? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e","video":"3131699171602805795.mp4"}
+{"uid":"2790993714624822817","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow packet in yellow packet section in organizer 2- put cream colour packet in the organiser 3- place two white packet in white packet section in organizer 4- place white packet in white packet section in organizer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace yellow packet in yellow packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow packet in yellow packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser Q: immediate next step? \u003cPRED\u003eA: place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e","video":"11797562078200096112.mp4"}
+{"uid":"17424877791405513504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink toy boat train 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":"2513729981479861063.mp4"}
+{"uid":"7374374376715921709","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown sugar packet inside the organizer 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser Q: immediate next step? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown sugar packet inside the organizer box 2- place brown packet in brown packet section in organizer 3- put the green packet in the organiser 4- place green packet in green packet section in organizer 5- place green packet in green packet section in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown sugar packet inside the organizer box\n\u003c/PRED\u003e","video":"16098640955098936591.mp4"}
+{"uid":"4183846029632703925","text":"\u003ctask:success:discrete:True\u003e\nput a green packet inside the organizer 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: put a green packet inside the organizer box\n\u003c/PRED\u003e","video":"14114518802241157567.mp4"}
+{"uid":"13041091994585387105","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- Adjust the can 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"10385917536822155705.mp4"}
+{"uid":"8172995635918325187","text":"\u003ctask:success:discrete:False\u003e\nplace four pink packet in pink packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace four pink packet in pink packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place four pink packet in pink packet section in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser Q: immediate next step? \u003cPRED\u003eA: place four pink packet in pink packet section in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place four pink packet in pink packet section in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place four pink packet in pink packet section in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser Q: next 5 steps? \u003cPRED\u003eA: 1- place four pink packet in pink packet section in organizer 2- place yellow packet in yellow packet section in organizer 3- put cream colour packet in the organiser 4- place two white packet in white packet section in organizer 5- place white packet in white packet section in organizer\n\u003c/PRED\u003e","video":"7938763599851852926.mp4"}
+{"uid":"5950818686936230966","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser Q: immediate next step? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in brown packet section in organizer 2- put the green packet in the organiser 3- place green packet in green packet section in organizer 4- place green packet in green packet section in organizer 5- put pink clolour packet in the gorganiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in brown packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in brown packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10194801441806776207.mp4"}
+{"uid":"17866321292915546200","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a green packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a green packet inside the organizer 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: put a green packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer Q: immediate next step? \u003cPRED\u003eA: put a green packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put a green packet inside the organizer box 2- place green packet in green packet section in organizer 3- put pink clolour packet in the gorganiser 4- put 3 pink colour packets in the organiser 5- place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a green packet inside the organizer 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put a green packet inside the organizer box\n\u003c/PRED\u003e","video":"222058988892916985.mp4"}
+{"uid":"3006694617438662140","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 2 white packet inside the organizer 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: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser Q: immediate next step? \u003cPRED\u003eA: put 2 white packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put 2 white packet inside the organizer box 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 2 white packet inside the organizer 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: put 2 white packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put 2 white packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 2 white packet inside the organizer box\n\u003c/PRED\u003e","video":"12332628706560169864.mp4"}
+{"uid":"8744263859555103129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolate in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5545731318405564463.mp4"}
+{"uid":"4344033876675512007","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cream colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cream colour packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15959409843046552165.mp4"}
+{"uid":"21880888296772869","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 2 white packet inside the organizer 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: put 2 white packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- put 2 white packet inside the organizer box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- put 2 white packet inside the organizer box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4233445283883935133.mp4"}
+{"uid":"17661124864405096088","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer Q: immediate next step? \u003cPRED\u003eA: put a cream color packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a cream color packet inside the organizer 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: put a cream color packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a cream color packet inside the organizer box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a cream color packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put a cream color packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put a cream color packet inside the organizer box 2- place white packet in white packet section in organizer 3- done\n\u003c/PRED\u003e","video":"12407305098634748114.mp4"}
+{"uid":"1107786043060260977","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- place two white packet in white packet section in organizer 13- put the white colour packet in the organiser Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white colour packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer 11- put cream colour packet in the organiser 12- place two white packet in white packet section in organizer 13- put the white colour packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8887491113206853682.mp4"}
+{"uid":"13255810905387803276","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place brown packet in brown packet section in organizer 4- put the green packet in the organiser 5- place green packet in green packet section in organizer\n\u003c/PRED\u003e","video":"5474297158695730496.mp4"}
+{"uid":"6126553151229299069","text":"\u003ctask:success:discrete:True\u003e\nplace green packet in green packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green packet in green packet section in organizer\n\u003c/PRED\u003e","video":"17738600730832265975.mp4"}
+{"uid":"18428458425619049156","text":"\u003ctask:success:discrete:False\u003e\nplace two white packet in white packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place two white packet in white packet section in organizer 2- place white packet in white packet section in organizer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer Q: immediate next step? \u003cPRED\u003eA: place two white packet in white packet section in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place two white packet in white packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place two white packet in white packet section in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place two white packet in white packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace two white packet in white packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4098803950098657141.mp4"}
+{"uid":"11765033112798462342","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9481295598325591468.mp4"}
+{"uid":"13283852716447681464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the illy packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3387541444939626859.mp4"}
+{"uid":"10641813558253647372","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cream colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cream colour packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4892333250889936242.mp4"}
+{"uid":"14106381245346096930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11068504858643862539.mp4"}
+{"uid":"11268983662599732663","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pink packet inside the organizer 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: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put a pink packet inside the organizer box 2- place yellow packet in yellow packet section in organizer 3- put cream colour packet in the organiser 4- place two white packet in white packet section in organizer 5- place white packet in white packet section in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pink packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a pink packet inside the organizer 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put a pink packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pink packet inside the organizer box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer Q: immediate next step? \u003cPRED\u003eA: put a pink packet inside the organizer box\n\u003c/PRED\u003e","video":"9333993746895295561.mp4"}
+{"uid":"3884000720630494354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to 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":"7227265750323886008.mp4"}
+{"uid":"7426705467170204000","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer Q: immediate next step? \u003cPRED\u003eA: put the green packet in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the green packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet in the organiser 2- place green packet in green packet section in organizer 3- put pink clolour packet in the gorganiser 4- put 3 pink colour packets in the organiser 5- place yellow packet in yellow packet section in organizer\n\u003c/PRED\u003e","video":"18302659925357913450.mp4"}
+{"uid":"159003266403984823","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up tissue 2- put tissue on the table 3- clean the table 4- move laptop to the forward 5- clean the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer Q: immediate next step? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e","video":"1761527339463147074.mp4"}
+{"uid":"6315246972212196336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9192475285625927080.mp4"}
+{"uid":"9028593438750693582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the marker 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":"11173802348640148653.mp4"}
+{"uid":"48215008672268831","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink clolour packet in the gorganiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink clolour packet in the gorganiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink clolour packet in the gorganiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put pink clolour packet in the gorganiser 2- put 3 pink colour packets in the organiser 3- place yellow packet in yellow packet section in organizer 4- put cream colour packet in the organiser 5- place two white packet in white packet section in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink clolour packet in the gorganiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put pink clolour packet in the gorganiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer Q: immediate next step? \u003cPRED\u003eA: put pink clolour packet in the gorganiser\n\u003c/PRED\u003e","video":"5516037140394171589.mp4"}
+{"uid":"12329977721187201158","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place two white packet in white packet section in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace two white packet in white packet section in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4462772430814727283.mp4"}
+{"uid":"13401344794537388209","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pink clolour packet in the gorganiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pink clolour packet in the gorganiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11821371958528223275.mp4"}
+{"uid":"11420178819684564385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6630413040849130520.mp4"}
+{"uid":"14232190638433399333","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5622828360022076488.mp4"}
+{"uid":"11420375673454803453","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put cream colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cream colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cream colour packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cream colour packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cream colour packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put cream colour packet in the organiser 2- place white packet in white packet section in organizer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place the brown packet in the organiser 2- place the brown packet in the organiser 3- place the brown packet in the organiser 4- place brown packet in brown packet section in organizer 5- put the green packet in the organiser 6- place green packet in green packet section in organizer 7- place green packet in green packet section in organizer 8- put pink clolour packet in the gorganiser 9- put 3 pink colour packets in the organiser 10- place yellow packet in yellow packet section in organizer Q: immediate next step? \u003cPRED\u003eA: put cream colour packet in the organiser\n\u003c/PRED\u003e","video":"5332690182979371438.mp4"}
+{"uid":"10714648278603216029","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table 2- put pen stand in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the holder 2- put holder in the organiser 3- put cleaning wipes box in the organiser 4- move cleaning wipes box to the back of the organiser 5- put disinfectant pump in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table 2- put pen stand in the organiser Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me Q: immediate next step? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the holder\n\u003c/PRED\u003e","video":"10356016567873293090.mp4"}
+{"uid":"11100633536164282242","text":"\u003ctask:success:discrete:True\u003e\nplace the tissue paper on the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tissue paper on the packet\n\u003c/PRED\u003e","video":"2431475024841766396.mp4"}
+{"uid":"14299497947836738163","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10282311920255368908.mp4"}
+{"uid":"9892137718673721494","text":"\u003ctask:success:discrete:True\u003e\nPick up the paper cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e","video":"1793285250877302287.mp4"}
+{"uid":"2048422381925363285","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the table 2- open the glass jar lid 3- put the dry fruits in the bowl 4- put the dry fruits in the bowl 5- put the dry fruits in the bowl\n\u003c/PRED\u003e","video":"11150991562628421529.mp4"}
+{"uid":"10593096123256829371","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the first left 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":"16129862898306359612.mp4"}
+{"uid":"10000752372382777420","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me Q: immediate next step? \u003cPRED\u003eA: move organiser to the front of table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move organiser to the front of table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move organiser to the front of table 2- put pen stand in the organiser 3- put pen in the holder 4- put holder in the organiser 5- put cleaning wipes box in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove organiser to the front of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 organiser to the front of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move organiser to the front of table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move organiser to the front of table\n\u003c/PRED\u003e","video":"9173654304349040953.mp4"}
+{"uid":"11150424427346785711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14148787646952089120.mp4"}
+{"uid":"6740840387481847241","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tetra pack 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":"16690343721886550098.mp4"}
+{"uid":"15182252508172666137","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into dustbin 2- drop paper into dust\\bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface Q: immediate next step? \u003cPRED\u003eA: drop the packet into dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: drop the packet into dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"324703532076765178.mp4"}
+{"uid":"11913852247692107391","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack blue 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":"1803039402794383833.mp4"}
+{"uid":"3973681161784829171","text":"\u003ctask:success:discrete:False\u003e\nplace packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on table 2- drop the packet into dustbin 3- drop paper into dust\\bin 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper Q: immediate next step? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7839117580046399841.mp4"}
+{"uid":"3801732995507412259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the numi box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1548426676831879040.mp4"}
+{"uid":"8966840205504150776","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop packet into dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop packet into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9887178059024152180.mp4"}
+{"uid":"1607173046496260337","text":"\u003ctask:success:discrete:False\u003e\nput disinfectant pump in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table 2- put pen stand in the organiser 3- put pen in the holder 4- put holder in the organiser 5- put cleaning wipes box in the organiser 6- move cleaning wipes box to the back of the organiser Q: immediate next step? \u003cPRED\u003eA: put disinfectant pump in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put disinfectant pump in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put disinfectant pump in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table 2- put pen stand in the organiser 3- put pen in the holder 4- put holder in the organiser 5- put cleaning wipes box in the organiser 6- move cleaning wipes box to the back of the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put disinfectant pump in the organiser 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me Q: immediate next step? \u003cPRED\u003eA: put disinfectant pump in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput disinfectant pump in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8123972471977205288.mp4"}
+{"uid":"13755207726145275484","text":"\u003ctask:success:discrete:False\u003e\ndrop packet into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface Q: immediate next step? \u003cPRED\u003eA: drop packet into dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into dustbin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: drop packet into dustbin\n\u003c/PRED\u003e","video":"1227686279658535537.mp4"}
+{"uid":"17982979262928595200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet on left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8176291218193847551.mp4"}
+{"uid":"10073697931750893972","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place on the dustbin surface\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace on the dustbin surface Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2298821005296798450.mp4"}
+{"uid":"18404253168532486344","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into dustbin\n\u003c/PRED\u003e","video":"8023568664246643677.mp4"}
+{"uid":"17239254745794088940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18400924170416652622.mp4"}
+{"uid":"16653306659049505868","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace cup 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":"4012519992037933423.mp4"}
+{"uid":"13446234380123610119","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: go to the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper Q: immediate next step? \u003cPRED\u003eA: go to the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper Q: next 5 steps? \u003cPRED\u003eA: 1- go to the trash 2- place on the dustbin surface 3- drop the packet into dustbin 4- drop paper into dust\\bin 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the trash\n\u003c/PRED\u003e","video":"10291940806318939807.mp4"}
+{"uid":"15183667912286941118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5336753573257707522.mp4"}
+{"uid":"2789446463232640569","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cleaning wipes box in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table 2- put pen stand in the organiser 3- put pen in the holder 4- put holder in the organiser Q: immediate next step? \u003cPRED\u003eA: put cleaning wipes box in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table 2- put pen stand in the organiser 3- put pen in the holder 4- put holder in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put cleaning wipes box in the organiser 2- move cleaning wipes box to the back of the organiser 3- put disinfectant pump in the organiser 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cleaning wipes box in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cleaning wipes box in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cleaning wipes box in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me Q: immediate next step? \u003cPRED\u003eA: put cleaning wipes box in the organiser\n\u003c/PRED\u003e","video":"9192727456122684444.mp4"}
+{"uid":"16095573044842571663","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: pick the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the packet 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin 5- drop paper into dust\\bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the packet\n\u003c/PRED\u003e","video":"2729206697975509506.mp4"}
+{"uid":"17119368388108380676","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pen stand in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pen stand in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2294024389210467679.mp4"}
+{"uid":"16498995446792078307","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue paper on the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the tissue paper on the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue paper on the packet 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin 5- drop paper into dust\\bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue paper on 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: place the tissue paper on the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: place the tissue paper on the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissue paper on the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11856869739267971698.mp4"}
+{"uid":"10051645695374143442","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the paper cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take my cup from phoneroom 2a3 and drop it in the recycle bin. last 20 steps: 1- Move close to the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the paper cup from the table 2- Throw the paper cup into the trash bin 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take my cup from phoneroom 2a3 and drop it in the recycle bin. last 20 steps: 1- Move close to the paper cup Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take my cup from phoneroom 2a3 and drop it in the recycle bin Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the paper cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e","video":"13960881258248613689.mp4"}
+{"uid":"1805229570029798256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17309027368952810279.mp4"}
+{"uid":"14410831719785146066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1176262387114184384.mp4"}
+{"uid":"16674487356855618932","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper into dust\\bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin Q: immediate next step? \u003cPRED\u003eA: drop paper into dust\\bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: drop paper into dust\\bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper into dust\\bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper into dust\\bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper into dust\\bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop paper into dust\\bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7779477542553281574.mp4"}
+{"uid":"13640474757562904441","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- throw the tissue paper in the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the tissue paper in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the tissue paper in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the tissue paper in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: throw the tissue paper in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin Q: immediate next step? \u003cPRED\u003eA: throw the tissue paper in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the tissue paper in the trash bin\n\u003c/PRED\u003e","video":"4023275145426887567.mp4"}
+{"uid":"8350412591060365100","text":"\u003ctask:success:discrete:True\u003e\npickup packet paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup packet paper\n\u003c/PRED\u003e","video":"7134456220513561659.mp4"}
+{"uid":"2935267637106440762","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. . last 20 steps: 1- place the bowl on the table 2- open the glass jar lid 3- put the dry fruits in the bowl 4- put the dry fruits in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the dry fruits in the bowl 2- Put the scooper in the holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. . last 20 steps: 1- place the bowl on the table 2- open the glass jar lid 3- put the dry fruits in the bowl 4- put the dry fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: put the dry fruits in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the dry fruits in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the dry fruits 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: Some pens fell out of the pen holder. Please put them back in. Q: immediate next step? \u003cPRED\u003eA: put the dry fruits in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the dry fruits in the bowl\n\u003c/PRED\u003e","video":"876776984344997024.mp4"}
+{"uid":"18107984606894105859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15456499959477771483.mp4"}
+{"uid":"18250099639220491433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16309146551298766673.mp4"}
+{"uid":"758239690439290000","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put holder in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me Q: immediate next step? \u003cPRED\u003eA: put holder in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table 2- put pen stand in the organiser 3- put pen in the holder Q: immediate next step? \u003cPRED\u003eA: put holder in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput holder in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put holder in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table 2- put pen stand in the organiser 3- put pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put holder in the organiser 2- put cleaning wipes box in the organiser 3- move cleaning wipes box to the back of the organiser 4- put disinfectant pump in the organiser 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput holder in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4127137717151925926.mp4"}
+{"uid":"5042281864049127513","text":"\u003ctask:success:discrete:True\u003e\nput holder in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put holder in the organiser\n\u003c/PRED\u003e","video":"12713264189994369640.mp4"}
+{"uid":"1881793876510726384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the Pistas 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":"5237082006189957569.mp4"}
+{"uid":"1655818861316270890","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStick the tape on the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11978659880405739638.mp4"}
+{"uid":"3652303541725714331","text":"\u003ctask:success:discrete:True\u003e\nplace packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e","video":"2087863722470743798.mp4"}
+{"uid":"6294610041899041000","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take my cup from phoneroom 2a3 and drop it in the recycle bin Q: immediate next step? \u003cPRED\u003eA: Go to the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take my cup from phoneroom 2a3 and drop it in the recycle bin. last 20 steps: 1- Move close to the paper cup Q: immediate next step? \u003cPRED\u003eA: Go to the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take my cup from phoneroom 2a3 and drop it in the recycle bin. last 20 steps: 1- Move close to the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the trash bin 2- Throw the paper cup into the trash bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9697492483753759641.mp4"}
+{"uid":"2849813752322596138","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop tissue paper into dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- drop tissue paper into dustbin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin Q: immediate next step? \u003cPRED\u003eA: drop tissue paper into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop tissue paper into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop tissue paper into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop tissue paper into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: drop tissue paper into dustbin\n\u003c/PRED\u003e","video":"16292815306706417193.mp4"}
+{"uid":"5990619621065552795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the fork put it in the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10084405165860429365.mp4"}
+{"uid":"8813905764373374096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink colour packet in the separator 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":"4205415351432586193.mp4"}
+{"uid":"3186481824523796433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6116989531914876440.mp4"}
+{"uid":"69900308316958806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5217111321262554364.mp4"}
+{"uid":"13697798034857647610","text":"\u003ctask:success:discrete:False\u003e\nmove cleaning wipes box to the back of the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move cleaning wipes box to the back of the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move cleaning wipes box to the back of the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table 2- put pen stand in the organiser 3- put pen in the holder 4- put holder in the organiser 5- put cleaning wipes box in the organiser Q: immediate next step? \u003cPRED\u003eA: move cleaning wipes box to the back of the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table 2- put pen stand in the organiser 3- put pen in the holder 4- put holder in the organiser 5- put cleaning wipes box in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- move cleaning wipes box to the back of the organiser 2- put disinfectant pump in the organiser 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me Q: immediate next step? \u003cPRED\u003eA: move cleaning wipes box to the back of the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove cleaning wipes box to the back of the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10156634617291256300.mp4"}
+{"uid":"5798716550301969917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue packet in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7940452357598318982.mp4"}
+{"uid":"8465727072686795819","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the the packet in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the the packet in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10509587268549839330.mp4"}
+{"uid":"13831059419117303242","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the tissue paper in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the tissue paper in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin 5- throw the tissue paper in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin 5- throw the tissue paper in the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"382846097410111345.mp4"}
+{"uid":"5536379194651154872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWipe 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":"6626721781710749458.mp4"}
+{"uid":"4782961946026394670","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the dry fruits in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the dry fruits 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":"9999758434342250000.mp4"}
+{"uid":"14774008957808048509","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- place on the dustbin surface 3- drop the packet into dustbin 4- drop paper into dust\\bin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11712193121111044281.mp4"}
+{"uid":"16607112447227801651","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":"1122660780488979319.mp4"}
+{"uid":"830298669303469953","text":"\u003ctask:success:discrete:False\u003e\nThrow the paper cup into the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take my cup from phoneroom 2a3 and drop it in the recycle bin. last 20 steps: 1- Move close to the paper cup 2- Pick up the paper cup from the table 3- Go to the trash bin Q: immediate next step? \u003cPRED\u003eA: Throw the paper cup into the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the paper cup into the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the paper cup into the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take my cup from phoneroom 2a3 and drop it in the recycle bin Q: immediate next step? \u003cPRED\u003eA: Throw the paper cup into the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the paper cup into the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take my cup from phoneroom 2a3 and drop it in the recycle bin. last 20 steps: 1- Move close to the paper cup 2- Pick up the paper cup from the table 3- Go to the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the paper cup into the trash bin 2- done\n\u003c/PRED\u003e","video":"640992525098865243.mp4"}
+{"uid":"17366759572786354080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13146057840844887760.mp4"}
+{"uid":"5079562519525084299","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place tissue paper on packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace tissue paper on packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6955240940733762103.mp4"}
+{"uid":"2171337199018013719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17781070900986571101.mp4"}
+{"uid":"12779114067944823948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the register Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17357852222044225255.mp4"}
+{"uid":"6345060797478045036","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. . last 20 steps: 1- place the bowl on the table 2- open the glass jar lid 3- put the dry fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: put the dry fruits in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. Q: immediate next step? \u003cPRED\u003eA: put the dry fruits in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the dry fruits 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 dry fruits in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. . last 20 steps: 1- place the bowl on the table 2- open the glass jar lid 3- put the dry fruits in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the dry fruits in the bowl 2- put the dry fruits in the bowl 3- Put the scooper in the holder 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the dry fruits in the bowl\n\u003c/PRED\u003e","video":"12893671867239613179.mp4"}
+{"uid":"801924380225302346","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin 5- drop tissue paper into dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop tissue paper into dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin 5- drop tissue paper into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop tissue paper into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2045373180966793990.mp4"}
+{"uid":"16570690264671136592","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove close to the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14116852961428643197.mp4"}
+{"uid":"16531424384188188540","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table 2- put pen stand in the organiser 3- put pen in the holder 4- put holder in the organiser 5- put cleaning wipes box in the organiser 6- move cleaning wipes box to the back of the organiser 7- put disinfectant pump in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table 2- put pen stand in the organiser 3- put pen in the holder 4- put holder in the organiser 5- put cleaning wipes box in the organiser 6- move cleaning wipes box to the back of the organiser 7- put disinfectant pump in the organiser Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put disinfectant pump in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput disinfectant pump in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5123330156584692559.mp4"}
+{"uid":"12896214233218423243","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash Q: immediate next step? \u003cPRED\u003eA: pick up tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash Q: next 5 steps? \u003cPRED\u003eA: 1- pick up tissue paper 2- drop paper into dust\\bin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: pick up tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12062544995167534505.mp4"}
+{"uid":"5599360141067301487","text":"\u003ctask:success:discrete:True\u003e\nGo to the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the trash bin\n\u003c/PRED\u003e","video":"11981563788463193833.mp4"}
+{"uid":"17631421530541523030","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5471492981058820809.mp4"}
+{"uid":"6946138338669784738","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 7 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":"1656853355595848873.mp4"}
+{"uid":"189982676728579969","text":"\u003ctask:success:discrete:True\u003e\ndrop paper into dust\\bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin 5- drop paper into dust\\bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash 3- place on the dustbin surface 4- drop the packet into dustbin 5- drop paper into dust\\bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper into dust\\bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14387357822096647466.mp4"}
+{"uid":"15963580117381905684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6931927942815529936.mp4"}
+{"uid":"17855299148626245463","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. . last 20 steps: 1- place the bowl on the table Q: immediate next step? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the glass jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. Q: immediate next step? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the glass jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the glass jar lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. . last 20 steps: 1- place the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the glass jar lid 2- put the dry fruits in the bowl 3- put the dry fruits in the bowl 4- put the dry fruits in the bowl 5- Put the scooper in the holder\n\u003c/PRED\u003e","video":"5610458711798699286.mp4"}
+{"uid":"14534476545129496778","text":"\u003ctask:success:discrete:True\u003e\nput the dry fruits in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the dry fruits in the bowl\n\u003c/PRED\u003e","video":"15448817396099484942.mp4"}
+{"uid":"5651787279387459492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo 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":"4916757780263134222.mp4"}
+{"uid":"15191014756052455600","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash Q: immediate next step? \u003cPRED\u003eA: place on the dustbin surface\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place on the dustbin surface\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash Q: next 5 steps? \u003cPRED\u003eA: 1- place on the dustbin surface 2- drop the packet into dustbin 3- drop paper into dust\\bin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place on the dustbin surface\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace on the dustbin surface Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: place on the dustbin surface\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace on the dustbin surface Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3136743769148285004.mp4"}
+{"uid":"11084932283777950911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17495827099077391079.mp4"}
+{"uid":"18196470760905888629","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white glass upon the another 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":"11738506491830267926.mp4"}
+{"uid":"15727586500771883805","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scooper in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. . last 20 steps: 1- place the bowl on the table 2- open the glass jar lid 3- put the dry fruits in the bowl 4- put the dry fruits in the bowl 5- put the dry fruits in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scooper in the holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. Q: immediate next step? \u003cPRED\u003eA: Put the scooper in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scooper in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scooper in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the scooper in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. . last 20 steps: 1- place the bowl on the table 2- open the glass jar lid 3- put the dry fruits in the bowl 4- put the dry fruits in the bowl 5- put the dry fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the scooper in the holder\n\u003c/PRED\u003e","video":"10671042710330850521.mp4"}
+{"uid":"3428377204358545756","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. . last 20 steps: 1- place the bowl on the table 2- open the glass jar lid Q: next 5 steps? \u003cPRED\u003eA: 1- put the dry fruits in the bowl 2- put the dry fruits in the bowl 3- put the dry fruits in the bowl 4- Put the scooper in the holder 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the dry fruits 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 dry fruits in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. . last 20 steps: 1- place the bowl on the table 2- open the glass jar lid Q: immediate next step? \u003cPRED\u003eA: put the dry fruits in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Some pens fell out of the pen holder. Please put them back in. Q: immediate next step? \u003cPRED\u003eA: put the dry fruits in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the dry fruits in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the dry fruits 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":"1139576804214960476.mp4"}
+{"uid":"9423268208669010738","text":"\u003ctask:success:discrete:True\u003e\ngo to the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the trash\n\u003c/PRED\u003e","video":"11808574211197065052.mp4"}
+{"uid":"10108434068824055807","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the the packet in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash Q: next 5 steps? \u003cPRED\u003eA: 1- throw the the packet in the trash bin 2- drop paper into dust\\bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the the packet in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. last 20 steps: 1- pickup packet paper 2- go to the trash Q: immediate next step? \u003cPRED\u003eA: throw the the packet in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw the napkin into the compostables and the seaweed snack wrapper in the trash. Q: immediate next step? \u003cPRED\u003eA: throw the the packet in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the the packet in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the the packet in the trash bin\n\u003c/PRED\u003e","video":"9559805665595699960.mp4"}
+{"uid":"7736195885527627751","text":"\u003ctask:success:discrete:False\u003e\nput pen stand in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table Q: next 5 steps? \u003cPRED\u003eA: 1- put pen stand in the organiser 2- put pen in the holder 3- put holder in the organiser 4- put cleaning wipes box in the organiser 5- move cleaning wipes box to the back of the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen stand in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen stand in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me Q: immediate next step? \u003cPRED\u003eA: put pen stand in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: This service cart needs to go back to the conference room, please fill it with the conference room stationery items for me. last 20 steps: 1- move organiser to the front of table Q: immediate next step? \u003cPRED\u003eA: put pen stand in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen stand in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"902402492578487994.mp4"}
+{"uid":"12430399206919514797","text":"\u003ctask:success:discrete:True\u003e\nplace the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e","video":"12014067317342284808.mp4"}
+{"uid":"12137062052650818649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4562692037633317871.mp4"}
+{"uid":"11968863356117105631","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3963711896305782135.mp4"}
+{"uid":"11744530426172814501","text":"\u003ctask:success:discrete:True\u003e\nplace green packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e","video":"17813770045331425037.mp4"}
+{"uid":"13734177389595716743","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange marker on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8051212972911198856.mp4"}
+{"uid":"14691045108580322689","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green marker in glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17445258772699927799.mp4"}
+{"uid":"16260144899436229133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the paper cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14576716236157928018.mp4"}
+{"uid":"1761884067166485518","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place yellowish packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place yellowish packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellowish packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place yellowish packet in organizer 2- place white packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- put the pink packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellowish packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellowish packet in organizer\n\u003c/PRED\u003e","video":"12138261557281430304.mp4"}
+{"uid":"11449903996415237179","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in organizer 2- put the brown packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brown packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e","video":"4046320427635713822.mp4"}
+{"uid":"5780606181324057249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang the clothe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14486607876630288371.mp4"}
+{"uid":"13581915698120404777","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"6348776844110150.mp4"}
+{"uid":"17404869399723841343","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sugar packet in the glass tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the sugar packet in the glass tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sugar packet in the glass tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the sugar packet in the glass tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sugar packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sugar packet in the glass tray 2- put the brown packet in the tray 3- done\n\u003c/PRED\u003e","video":"13308627044223775449.mp4"}
+{"uid":"17714032969179119769","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the center second drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar Q: immediate next step? \u003cPRED\u003eA: open the center second drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the center second drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the center second drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the center second drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the center second drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the center second drawer 2- place the blue packet on the table 3- put the white packet on the table 4- put the brown packet on the table 5- close the center second drawer\n\u003c/PRED\u003e","video":"899269511564720283.mp4"}
+{"uid":"14688421601386853304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the sanitizer bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4378959672550228719.mp4"}
+{"uid":"13518155131093367750","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pink packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pink packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet in the tray 2- place pink packet in organizer 3- place green packet in organizer 4- put the green packets in the tray 5- put the green packet in the tray\n\u003c/PRED\u003e","video":"9533950472701931960.mp4"}
+{"uid":"5310195393845421105","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16799982623478847873.mp4"}
+{"uid":"10535953913905137993","text":"\u003ctask:success:discrete:True\u003e\nplace yellowish packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place yellowish packet in organizer\n\u003c/PRED\u003e","video":"11816240796045875133.mp4"}
+{"uid":"13571271295714313360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"13765522332247861446.mp4"}
+{"uid":"11190373606038784126","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the pear on the table 3- place the apple on the table 4- place the pear on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"14762780199415584728.mp4"}
+{"uid":"15940964490944668667","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- place white packet in organizer 3- put the pink packets in the tray 4- place pink packet in organizer 5- place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"10618959920930487433.mp4"}
+{"uid":"3060444587856526894","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the glass tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the glass tray\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 glass tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the glass tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the glass tray 2- place white packet in organizer 3- put the pink packets in the tray 4- place pink packet in organizer 5- place pink packet in organizer\n\u003c/PRED\u003e","video":"14779387486498847450.mp4"}
+{"uid":"2110571461750870544","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer Q: immediate next step? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white packet in organizer 2- place white packet in organizer 3- put the pink packets in the tray 4- place pink packet in organizer 5- place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4350515567903208373.mp4"}
+{"uid":"1203727757029367804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16122176526255482536.mp4"}
+{"uid":"788660981332433365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green 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":"2265212736352907649.mp4"}
+{"uid":"3142800939686346570","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace white packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17288849749646834784.mp4"}
+{"uid":"17903907716950011949","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace instant oatmeal pack 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":"5176306061734370701.mp4"}
+{"uid":"16176542959877664616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the right indoor plant to the 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":"5179016777687658267.mp4"}
+{"uid":"17985719700748036901","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"10973376060948159361.mp4"}
+{"uid":"14425815377819166056","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the sugar packet in the glass tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the sugar packet in the glass tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sugar packet in the glass tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the sugar packet in the glass tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sugar packet in the glass tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sugar packet in the glass tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sugar packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12142591393149262695.mp4"}
+{"uid":"10463308043734006392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up hint bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14165841921339558287.mp4"}
+{"uid":"17156328932962784821","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar Q: immediate next step? \u003cPRED\u003eA: place the bar packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bar packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer 2- place the blue packet on the table 3- put the white packet on the table 4- put the brown packet on the table 5- close the center second drawer 6- open the center first drawer Q: immediate next step? \u003cPRED\u003eA: place the bar packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bar packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bar packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer 2- place the blue packet on the table 3- put the white packet on the table 4- put the brown packet on the table 5- close the center second drawer 6- open the center first drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the bar packet on the table 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bar packet on the table\n\u003c/PRED\u003e","video":"7683878303404845991.mp4"}
+{"uid":"3457241896763417697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"17606395839777527103.mp4"}
+{"uid":"769426481881082334","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 2 pink packets in glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer Q: immediate next step? \u003cPRED\u003eA: Put the 2 pink packets in glass tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the 2 pink packets in glass tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 2 pink packets in glass tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 2 pink packets in glass tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the 2 pink packets in glass tray 2- place pink packet in organizer 3- place green packet in organizer 4- put the green packets in the tray 5- put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 2 pink packets in glass tray\n\u003c/PRED\u003e","video":"6751204816822204496.mp4"}
+{"uid":"9459943585103077213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can 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":"3817111630097456842.mp4"}
+{"uid":"18104759683533901917","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- place the apple on the table 5- place the pear on the table 6- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- place the apple on the table 5- place the pear on the table 6- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17420372981490523537.mp4"}
+{"uid":"1237064712584062821","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar candy 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":"16563164329044045442.mp4"}
+{"uid":"3392542126096544248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8127831809605705054.mp4"}
+{"uid":"8261404364288423640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSpread the wipe 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":"3237718390393268327.mp4"}
+{"uid":"5679741369806189013","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace white packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4483256695508414465.mp4"}
+{"uid":"6857667206096320688","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packet in the glass tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the white packet in the glass tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"741706118909934156.mp4"}
+{"uid":"4898407164953292719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2548624637483537959.mp4"}
+{"uid":"17320520328716798315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the basket in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16035228936834863526.mp4"}
+{"uid":"5062746753582550911","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- put the pink packets in the tray 3- place pink packet in organizer 4- place pink packet in organizer 5- place green packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"9665161068161508729.mp4"}
+{"uid":"6751763812234752364","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray Q: immediate next step? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet in the tray 2- put the brown packets in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2808602033324910936.mp4"}
+{"uid":"14952635989732586031","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray 13- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray 13- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in organizer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e","video":"2688528422231274320.mp4"}
+{"uid":"1616533014293824954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6529150908876440459.mp4"}
+{"uid":"12704683528130175996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the steel object in the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3830619055202673423.mp4"}
+{"uid":"9178440624729068906","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nspread the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13856133509927868775.mp4"}
+{"uid":"5662563431327191379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17846042263952824070.mp4"}
+{"uid":"715690506407965771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1956289643792389620.mp4"}
+{"uid":"13792024906661433061","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink packet in organizer 2- place green packet in organizer 3- put the green packets in the tray 4- put the green packet in the tray 5- put the brown packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet in the tray 2- put the green packets in the tray 3- put the green packet in the tray 4- put the brown packets in the tray 5- put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer Q: immediate next step? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e","video":"591439577716443163.mp4"}
+{"uid":"4349351791736046218","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place two pink packet in organizer 2- place pink packet in organizer 3- place pink packet in organizer 4- place green packet in organizer 5- put the green packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place two pink packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place two pink packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace two pink packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer Q: immediate next step? \u003cPRED\u003eA: place two pink packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place two pink packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace two pink packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2714401601600813092.mp4"}
+{"uid":"17806650662776489700","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12295343318820700353.mp4"}
+{"uid":"17233989587754932822","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- place the apple on the table 5- place the pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15694306071564099593.mp4"}
+{"uid":"14682162442831959476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput alphabet tile in 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":"14015286310359877220.mp4"}
+{"uid":"1827124066019595232","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate 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":"12612082680765936248.mp4"}
+{"uid":"11053411711411812573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12678085085820108464.mp4"}
+{"uid":"9375509725510010922","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place yellowish packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellowish packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellowish packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellowish packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place yellowish packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place yellowish packet in organizer 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace yellowish packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8397832384596817129.mp4"}
+{"uid":"3230991315769690205","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- place the apple on the table 5- place the pear on the table\n\u003c/PRED\u003e","video":"7473730187642137129.mp4"}
+{"uid":"6459539641158365724","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer 2- place the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer 2- place the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table 2- put the brown packet on the table 3- close the center second drawer 4- open the center first drawer 5- place the bar packet on the table\n\u003c/PRED\u003e","video":"6016266866250244417.mp4"}
+{"uid":"15910494300797326213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13529045443212028712.mp4"}
+{"uid":"8255994944893272542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the grey duck in the small 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":"6206546732557027365.mp4"}
+{"uid":"3124245771578178430","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packets in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the green packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the green packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packets in the tray 2- put the green packet in the tray 3- put the brown packets in the tray 4- put the brown packet in the tray 5- put the brown packet in the tray\n\u003c/PRED\u003e","video":"7376425150414711394.mp4"}
+{"uid":"1751612143142886568","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue packet on the table 2- put the white packet on the table 3- put the brown packet on the table 4- close the center second drawer 5- open the center first drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar Q: immediate next step? \u003cPRED\u003eA: place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer Q: immediate next step? \u003cPRED\u003eA: place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6979644791315633161.mp4"}
+{"uid":"293627214057249452","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon 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":"10105836754091754418.mp4"}
+{"uid":"13020543170029344573","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer Q: immediate next step? \u003cPRED\u003eA: Put the green packet in the glass tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green packet in the glass tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green packet in the glass tray 2- put the green packets in the tray 3- put the green packet in the tray 4- put the brown packets in the tray 5- put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the green packet in the glass tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green packet in the glass tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green packet in the glass tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17132512747818705747.mp4"}
+{"uid":"6347371773499871685","text":"\u003ctask:success:discrete:False\u003e\nPut the white packet in the glass tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the glass tray\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 glass tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the glass tray 2- put the pink packets in the tray 3- place pink packet in organizer 4- place pink packet in organizer 5- place green packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the glass tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the glass tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5885921318550063882.mp4"}
+{"uid":"8988843935909579665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the yellow ball 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":"14436087238182990983.mp4"}
+{"uid":"820714722575246580","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the tray 2- put the brown packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packets in the tray\n\u003c/PRED\u003e","video":"11735401490442000011.mp4"}
+{"uid":"11519832594458416717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the right side 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":"16814728250523262030.mp4"}
+{"uid":"6946289596740460368","text":"\u003ctask:success:discrete:True\u003e\nplace brown packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e","video":"444340592672946811.mp4"}
+{"uid":"5890788697069238357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose  the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13330183973047286050.mp4"}
+{"uid":"5484943080580357170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a 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":"854848960138557864.mp4"}
+{"uid":"6985524248984834251","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray 13- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray 13- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e","video":"720349911995871692.mp4"}
+{"uid":"2235982250334262270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13798887781337568326.mp4"}
+{"uid":"5753599267029104324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the beans 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":"10322989528188884814.mp4"}
+{"uid":"13595107518998898491","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer Q: immediate next step? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place green packet in organizer 2- put the green packets in the tray 3- put the green packet in the tray 4- put the brown packets in the tray 5- put the brown packet in the tray\n\u003c/PRED\u003e","video":"5818849178249643992.mp4"}
+{"uid":"2978193019191973320","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer Q: immediate next step? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place green packet in organizer 2- put the green packet in the tray 3- put the brown packets in the tray 4- put the brown packet in the tray 5- put the brown packet in the tray\n\u003c/PRED\u003e","video":"13645576538273449091.mp4"}
+{"uid":"13625266910094532049","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer 2- place the blue packet on the table 3- put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet on the table 2- close the center second drawer 3- open the center first drawer 4- place the bar packet on the table 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer 2- place the blue packet on the table 3- put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the table\n\u003c/PRED\u003e","video":"16342806433480537377.mp4"}
+{"uid":"5187301538473331328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue 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":"1211726778716424491.mp4"}
+{"uid":"14778501423991099276","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the pink packet in the glass tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink packet in the glass tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink packet in the glass tray 2- place green packet in organizer 3- put the green packets in the tray 4- put the green packet in the tray 5- put the brown packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink packet in the glass tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer Q: immediate next step? \u003cPRED\u003eA: Put the pink packet in the glass tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4572484702898180276.mp4"}
+{"uid":"11496023231128569054","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green packet in the glass tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green packet in the glass tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green packet in the glass tray 2- put the brown packets in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green packet in the glass tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the green packet in the glass tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the green packet in the glass tray\n\u003c/PRED\u003e","video":"301310042771320619.mp4"}
+{"uid":"15725247368084322397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5020024979834798163.mp4"}
+{"uid":"7168915856678986586","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14107650777811742641.mp4"}
+{"uid":"2701868037021363687","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the glass tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the glass tray\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 glass tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the glass tray 2- place white packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- put the pink packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the glass tray\n\u003c/PRED\u003e","video":"3574155908892443646.mp4"}
+{"uid":"13975605169011789243","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace brown packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray 13- put the brown packet in the tray 14- place brown packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray 13- put the brown packet in the tray 14- place brown packet in organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e","video":"7369735916215309216.mp4"}
+{"uid":"4745611543493319810","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- place the apple on the table 5- place the pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e","video":"4717192771146217938.mp4"}
+{"uid":"8066939204799143473","text":"\u003ctask:success:discrete:True\u003e\nput the brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet on the table\n\u003c/PRED\u003e","video":"12779504084736599520.mp4"}
+{"uid":"10349453990956410510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14431332979117651787.mp4"}
+{"uid":"17930628878717337129","text":"\u003ctask:success:discrete:True\u003e\nplace white packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e","video":"5252988398646706732.mp4"}
+{"uid":"12612475388180734252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the plastic 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":"18060126176536508466.mp4"}
+{"uid":"1243709455190316965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown paper on the backside left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10029172232954685307.mp4"}
+{"uid":"14244426023041272734","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer Q: immediate next step? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white packet in organizer 2- place white packet in organizer 3- place white packet in organizer 4- put the pink packets in the tray 5- place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace white packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10248340501897407498.mp4"}
+{"uid":"15000559968324564991","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the center first drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer 2- place the blue packet on the table 3- put the white packet on the table 4- put the brown packet on the table 5- close the center second drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the center first drawer 2- place the bar packet on the table 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the center first drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer 2- place the blue packet on the table 3- put the white packet on the table 4- put the brown packet on the table 5- close the center second drawer Q: immediate next step? \u003cPRED\u003eA: open the center first drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the center first drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the center first drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar Q: immediate next step? \u003cPRED\u003eA: open the center first drawer\n\u003c/PRED\u003e","video":"3168684039145740572.mp4"}
+{"uid":"8440380356778318224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"11541487589548485103.mp4"}
+{"uid":"9869987090156734785","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer Q: immediate next step? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink packet in organizer 2- place pink packet in organizer 3- place green packet in organizer 4- put the green packets in the tray 5- put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e","video":"38389801301418406.mp4"}
+{"uid":"611132869297555051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12743140029265574242.mp4"}
+{"uid":"7802621370700279362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie square 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":"5583741521759795022.mp4"}
+{"uid":"1021106568877492874","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white packet in organizer 2- put the pink packets in the tray 3- place pink packet in organizer 4- place pink packet in organizer 5- place green packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer Q: immediate next step? \u003cPRED\u003eA: place white packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4840954461707769509.mp4"}
+{"uid":"12424571420918509169","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the pear on the table 3- place the apple on the table 4- place the pear on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"5004038428086095454.mp4"}
+{"uid":"14318009847804147666","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packets in the glass tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packets in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packets in the glass tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer Q: immediate next step? \u003cPRED\u003eA: Put the white packets in the glass tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packets in the glass tray 2- place white packet in organizer 3- put the pink packets in the tray 4- place pink packet in organizer 5- place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packets in the glass tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the white packets in the glass tray\n\u003c/PRED\u003e","video":"16386248207323697681.mp4"}
+{"uid":"8186142547922134121","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place yellowish packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace yellowish packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11947027647891417894.mp4"}
+{"uid":"13385761406538704910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10037268005843151849.mp4"}
+{"uid":"10786055901289779243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the packet put it on the left side of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13836948117923602597.mp4"}
+{"uid":"5678064023705460998","text":"\u003ctask:success:discrete:True\u003e\nput the green packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e","video":"17705159201628654002.mp4"}
+{"uid":"12623822952310034647","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packets in the tray 2- place white packet in organizer 3- put the pink packets in the tray 4- place pink packet in organizer 5- place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the white packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the white packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packets in the tray\n\u003c/PRED\u003e","video":"5400936398752492633.mp4"}
+{"uid":"1880325582511316085","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the green packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packets in the tray 2- put the green packets in the tray 3- put the green packet in the tray 4- put the brown packets in the tray 5- put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the green packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12081186848961206183.mp4"}
+{"uid":"12779167817378430037","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4783823093399983085.mp4"}
+{"uid":"12224295434650034278","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packets in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the brown packets in the tray\n\u003c/PRED\u003e","video":"2130367074031034372.mp4"}
+{"uid":"5738119957189534470","text":"\u003ctask:success:discrete:True\u003e\nplace brown packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e","video":"8585618912638650493.mp4"}
+{"uid":"4926984750470987192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"9937208585627092923.mp4"}
+{"uid":"13893632082193357047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9774358135925482342.mp4"}
+{"uid":"8528313881281127624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the package 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":"17649954468498260985.mp4"}
+{"uid":"4407642589742676583","text":"\u003ctask:success:discrete:True\u003e\nput the white packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packets in the tray\n\u003c/PRED\u003e","video":"17833662822827309151.mp4"}
+{"uid":"12636693785203848660","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- place the apple on the table 5- place the pear on the table 6- place the apple on the table 7- place the pear on the table 8- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- place the apple on the table 5- place the pear on the table 6- place the apple on the table 7- place the pear on the table 8- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the pear on the table\n\u003c/PRED\u003e","video":"9142813602236493613.mp4"}
+{"uid":"16173495058958469964","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- place the apple on the table 5- place the pear on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- place the apple on the table 5- place the pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the pear on the table 3- place the apple on the table 4- place the pear on the table 5- done\n\u003c/PRED\u003e","video":"16444388849426504393.mp4"}
+{"uid":"7415720269217870106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red snack 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":"5348014934377869969.mp4"}
+{"uid":"7397623545121433512","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer 2- place the blue packet on the table 3- put the white packet on the table 4- put the brown packet on the table 5- close the center second drawer 6- open the center first drawer 7- place the bar packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer 2- place the blue packet on the table 3- put the white packet on the table 4- put the brown packet on the table 5- close the center second drawer 6- open the center first drawer 7- place the bar packet on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"682291770890719166.mp4"}
+{"uid":"3398009280705489599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the holder upside right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17637953022051529322.mp4"}
+{"uid":"4114604577617558888","text":"\u003ctask:success:discrete:False\u003e\nclose the center second drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer 2- place the blue packet on the table 3- put the white packet on the table 4- put the brown packet on the table Q: immediate next step? \u003cPRED\u003eA: close the center second drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the center second drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the center second drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar Q: immediate next step? \u003cPRED\u003eA: close the center second drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the center second drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take out three bags of popcorn and a chocolate snack bar. last 20 steps: 1- open the center second drawer 2- place the blue packet on the table 3- put the white packet on the table 4- put the brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the center second drawer 2- open the center first drawer 3- place the bar packet on the table 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"17754166075876778707.mp4"}
+{"uid":"15664224683068936305","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":"5889630128660436694.mp4"}
+{"uid":"14633861825849264480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4351774775038397134.mp4"}
+{"uid":"9424446266151543589","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer Q: immediate next step? \u003cPRED\u003eA: Put the green packet in the glass tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the green packet in the glass tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green packet in the glass tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green packet in the glass tray 2- put the green packet in the tray 3- put the brown packets in the tray 4- put the brown packet in the tray 5- put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green packet in the glass tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green packet in the glass tray\n\u003c/PRED\u003e","video":"17367046204560712043.mp4"}
+{"uid":"15265339642133551460","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in organizer 2- put the brown packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e","video":"7319125097475811288.mp4"}
+{"uid":"5314341466650423282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"164097924347280532.mp4"}
+{"uid":"4304278386598172475","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packets in the glass tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the white packets in the glass tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16197490890162931892.mp4"}
+{"uid":"7907396464169490950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace laffy taffy candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4050221182202912819.mp4"}
+{"uid":"13739546315173882017","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13424769101395661697.mp4"}
+{"uid":"14913563197319185661","text":"\u003ctask:success:discrete:True\u003e\nPut the white packet in the glass tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packet in the glass tray\n\u003c/PRED\u003e","video":"5038902625303210191.mp4"}
+{"uid":"13594612467193018666","text":"\u003ctask:success:discrete:False\u003e\nput the pink packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the pink packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the pink packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packets in the tray 2- place pink packet in organizer 3- place green packet in organizer 4- put the green packets in the tray 5- put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"14686560987559935948.mp4"}
+{"uid":"4985220240032159421","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray 13- put the brown packet in the tray 14- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray 13- put the brown packet in the tray 14- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11233792466994064375.mp4"}
+{"uid":"2810135290677267707","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- place the apple on the table 5- place the pear on the table 6- place the apple on the table 7- place the pear on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place the pear on the table 2- place the apple on the table 3- place the pear on the table 4- place the apple on the table 5- place the pear on the table 6- place the apple on the table 7- place the pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the pear on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12778600229409951656.mp4"}
+{"uid":"17955395659126482841","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sugar packet in the glass tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray 13- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sugar packet in the glass tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sugar packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sugar packet in the glass tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray 11- put the green packet in the tray 12- put the brown packets in the tray 13- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the sugar packet in the glass tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the sugar packet in the glass tray\n\u003c/PRED\u003e","video":"10771716328300986352.mp4"}
+{"uid":"11146945973345571931","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the pink packet in the glass tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink packet in the glass tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink packet in the glass tray 2- place pink packet in organizer 3- place green packet in organizer 4- put the green packets in the tray 5- put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink packet in the glass tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the pink packet in the glass tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink packet in the glass tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11009796806710434957.mp4"}
+{"uid":"8313771497568520470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1298232962883782225.mp4"}
+{"uid":"13092903047323031292","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray Q: immediate next step? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green packet in organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray 2- place yellowish packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- place white packet in organizer 6- put the pink packets in the tray 7- place pink packet in organizer 8- place pink packet in organizer 9- place green packet in organizer 10- put the green packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place green packet in organizer 2- put the brown packets in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e","video":"15274328193193964343.mp4"}
+{"uid":"11956148226560519792","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- place white packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- put the pink packets in the tray\n\u003c/PRED\u003e","video":"1707976227449467085.mp4"}
+{"uid":"11560522608474106533","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the glass tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the glass tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in the glass tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in the glass tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the glass tray 2- place white packet in organizer 3- place white packet in organizer 4- place white packet in organizer 5- put the pink packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the glass tray\n\u003c/PRED\u003e","video":"9501412352310409061.mp4"}